I am working with a group on a class project using 2 AL5D robotic arms and 2 SSC32 controllers. The goal of my project is to have one arm pick up pieces of a hanoi tower, move across a piece of extruded aluminum and build the tower, a second, stationary arm will complete the tower. The arms will be modified with a larger custom machined grip and a medium duty wrist rotation servo added. The moving arm will be moved with a PLC controlled pneumatic cylinder to a few preset positions. My question is mainly about what software I should use to program the robot, and any links that might help me with the programming. So far all I have done is use LynxTerm to test the robot, and I did a few simple motions like picking up a puck and placing it in a cup, using macros. I am sure there is a better way to go about programming this, the RIOS software looks interesting. I don’t have a lot of programming experience outside of PLC ladder logic and PBASIC.
Here is a perfect solution, and it’s free. RIOS only controls one arm…
lynxmotion.com/p-822-free-do … oller.aspx
The only deviation from your description is it uses one SSC-32 not two. 
Thanks I will give that a try, I will need to get creative with the wiring to run it off one SSC-32 though, since we have a moving arm and the 2 arms will be about 1.5ft apart when the moving arm is in it’s home positon. The 24" extensions will probably do the job. 
Also would it be possible to make the SSC-32 output to a PLC? Just a digital signal to tell it to extend or retract the cylinder, I’m using an Allen Bradley micrologix 1000 which has 24vdc inputs.
Yes the program allows one bank of 8 outputs to be controlled as either servo pulses or simple on/off outputs. A simple 5vdc micro relay can work, or a servo pulse relay like this.
lynxmotion.com/p-559-picoswi … relay.aspx