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 3. Select Tray A. Select DWP96 ABGene.
  2. Select tray cooler 1
    Select tray cooler 1
    Select slot 3
    Select slot 3
    Select tray A
    Select tray A
  3. Select Options and select Check Teaching.
  4. Select check teaching
    Select check teaching
  5. The on-screen graphic displays the teaching points for tray A (There are three teach points: back left, front left, and front right edge positions of the module). For checking the first teach point, press Check. The robot arm moves to the teach point and checks teaching by lowering the tool to the back left edge position of tray A 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 first teach point
    Check first teach point
    Tray A first teach point