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 Needle Wash 1. Select Wash1.
    2. Select needle wash 1
    Select needle wash 1
  2. Select Options and select Check Teaching.
    3. Select check teaching
    Select check teaching
  3. The on-screen graphic displays the teaching point for needle wash. Press Check. The robot arm moves to the teach point and checks teaching for needle wash 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.
    4. Check teach point
    Check teach point
    Needle wash teach point
    Needle wash teach point
  4. When the teaching is checked, press Next on the PAL terminal.
    5. Press next
    Press next
  5. 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 Needle wash teaching).