The tool change station is used to remove the tool from the robot arm and store it. The robot arm approaches the tool change station, the tool is lowered into the storage position, and ejected. Then, the robot arm moves away and you can remove the tool from the station manually. Then, place the tool back into the station manually so that the robot arm can pick it up again. The PAL terminal is used to perform these tasks.
Teaching of the tool change station is done with the tool in the change station while still attached to the robot arm.
