Perform teaching in the Extended User level.

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


  1. On the PAL terminal screen, select Solid Waste.
  2. Select solid waste
    Select solid waste
  3. Select Options and select Teach Module.
  4. Solid waste teach module
    Solid waste teach module
  5. Move the robot arm manually to the teach point position displayed on the PAL terminal screen. Lower the tool until it is roughly at deck level (level with the solid waste bin top surface) and align it so that the tool is positioned roughly at the center of the slot.
  6. Solid waste teach point
    Solid waste teach point
  7. 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.
  8. Save teach point position
    Save teach point position
  9. When done, press Next. Press OK.
Press next
Press next
Teaching complete
Teaching complete