I am a technical trainer for a community college. I have been trying to set up a robotics lab for several years but do not have the $$$ to go out and buy a system(s). I was recently given two CRS A255 arms with no software or controllers. That may be for the best since they would have been obsolete anyway. I trying to determine if it is feasible to upgrade them with aftermarket drives and software. What I would like to do is use step & direction servo drives (such as Granite Argon Drives) to run the axes, and find a windows based controller software package that programs similar to industrial robot systems such as Fanuc, Motoman or ABB. I need to do it all for < $10,000. Any advice or suggestions would be greatly appreciated!!!