A Dedham man with a prior conviction for armed bank robbery was arrested Friday on charges that he robbed an Attleboro bank in May.

Lawrence J. Costello was charged in U.S. District Court in Boston by criminal complaint for armed bank robbery.

According to an affidavit filed with the complaint, Costello and another individual entered the Bank of America in Attleboro on May 12, armed with a semi-automatic weapon. Once inside the bank, Costello climbed over the teller’s counter and took $17,687, the affidavit said.

According to the statement, the robbers were seen fleeing the area in a green Ford pickup truck that had been reported stolen earlier in the day from a garage in Canton.

Authorities said DNA matches and witness identification helped them determine Costello was one of the robbers.

Costello appeared before Magistrate Judge David H. Hennessy in Boston on June 27 for an initial appearance. He will remain in custody pending his detention hearing on July 15.

The charging statute provides a sentence of no greater than 25 years in prison, five years of supervised release, a fine of $250,000 and restitution to Bank of America in the amount of $17,687. Actual sentences for federal crimes are typically substantially less than the maximum penalties, as they are imposed by a federal district court judge based upon the U.S. Sentencing Guidelines and other statutory factors.