Perform teaching in the Extended User level.

For the PAL terminal button functions, refer to the PAL terminal section.

Steps

  1. On the PAL terminal screen, select Tray Holder 1. Select Slot 4. Select D_Buffers. Select VT6 Buffer.
    2. Select tray holder 1
    Select tray holder 1
    Select slot 4
    Select slot 4
    Select D_buffers
    Select D_buffers
  2. Select Options and select Teach Module.
    3. Select teach module
    Select teach module
  3. Before performing teaching, ensure that three solution bottles are placed in the three teach point positions. Move the robot arm manually to the first teach point position displayed on the PAL terminal screen (back left edge of the module). Lower the tool so it touches the teach point and align it so that the tool is positioned at the center of the teach point.
    4. Tray D buffers first teach point
    Tray D buffers first teach point
  4. Press Save on the PAL terminal. This displays the coordinates of the saved position and allows you to manually adjust the coordinate values, if necessary. To change the coordinate values for either the x, y, or z position, select the respective co-ordinate and edit the value using the scroll wheel. When done, press Next.
    5. Save first teach point
    Save first teach point
    Press next
    Press next
  5. Repeat the teaching procedure for the two other teach points located at the front left edge and front right edge of the module respectively.
    6. Tray D buffers second teach point
    Tray D buffers second teach point
    Save second teach point
    Save second teach point
    Press next
    Press next
    Tray D buffers third teach point
    Tray D buffers third teach point
    Save third teach point
    Save third teach point
  6. When done, press Next. Press OK.
Press next
Press next
Teaching complete
Teaching complete