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 Solid Waste.
  2. Select solid waste
    Select solid waste
  3. Select Options and select Check Teaching.
  4. Select check teaching
    Select check teaching
  5. The on-screen graphic displays the teaching point for solid waste. Press Check. The robot arm moves to the teach point and checks teaching for solid waste by lowering the tool to the solid waste slot 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 solid waste bin.
  6. Check teach point
    Check teach point
    Solid waste teach point
    Solid waste teach point
  7. When the teaching is checked, press Next on the PAL terminal.
  8. Press next
    Press next
  9. Press OK. This moves the robot arm back to the home position.
Check teaching complete