Perform check teaching in the 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 Check Teaching.
    3. Select check teaching
    Select check teaching
  3. The on-screen graphic displays the teaching points for tray D buffers (There are three teach points for each: back left, front left, and front right edge positions of the module). Before checking teaching, ensure that three solution bottles are placed in the three teach point positions. 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 D buffers (so it touches the bottle cap) 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.
    4. Check first teach point
    Check first teach point
    Tray D buffers first teach point
    Tray D buffers first teach point
  4. When done, press Next.
    5. Press next
    Press next
  5. Press Check to check the teaching on the second teach point at the front left edge of tray D buffers.
    6. Check second teach point
    Check second teach point
    Tray D buffers second teach point
    Tray D buffers second teach point
    Press next
    Press next
  6. Repeat this for the third teach point at the front right. When the teaching is checked, press Next on the PAL terminal.
    7. Check third teach point
    Check third teach point
    Tray D buffers third teach point
    Tray D buffers third teach point
    Press next
    Press next
  7. Press OK. This moves the robot arm back to the home position.
Check teaching complete
Check teaching complete

NOTE

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 D buffers teaching).