Perform check teaching in the User level.

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


  1. On the PAL terminal screen, select Tray Cooler 1. Select Slot 1.
  2. Select tray cooler 1
    Select tray cooler 1
  3. Select Options and select Check Teaching.
  4. Select check teaching
    Select check teaching
  5. The on-screen graphic displays the teaching point for the tray cooler, which is located at the bottom center of the B1/B2 tray slot. For checking the teach point, remove the kits, B1/B2 trays, the tray adapter, and the tray insert. Press Check. The robot arm moves to the teach point and checks teaching by lowering the tool to the teach point and verifying the correct position and coordinates along the X, Y, and Z axes. When positioned correctly, the tool aligns with the center of the teach point position.
  6. Check teach point
    Check teach point
    Tray cooler teach point
    Tray cooler teach point
  7. When done, press Next.
  8. Press next
    Press next
  9. Press OK. This moves the robot arm back to the home position.
Check teaching complete
Check teaching complete


If the check teaching fails (for example, the position of the module is incorrectly aligned with respect to the tool), perform a re-teaching of the module (see Tray cooler teaching).