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 3. Select Tray SPE. Select uSPE96 Cartridge.
    2. Select tray holder 1
    Select tray holder 1
    Select slot 3
    Select slot 3
    Select tray SPE
    Select tray SPE
  2. Select Options and select Teach Module.
    3. Select teach module
    Select teach module
  3. Before performing teaching, ensure that three kit vials 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 SPE first teach point
    Tray SPE 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 SPE second teach point
    Tray SPE second teach point
    Save second teach point
    Save second teach point
    Press next
    Press next
    Tray SPE third teach point