Perform teaching in the Extended 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.
    2. Select tray holder 1
    Select tray holder 1
  2. Select Options and select Teach Module.
    3. Select tray module
    Select tray module
  3. Move the robot arm manually to the first teach point position displayed on the PAL terminal screen. Lower the tool so it touches the teach point and align it so that the tool is positioned at the center of the teach point.
    4. 4-position tray holder first teach point
    4-position tray holder first teach point
  4. 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. When done, press Next.
    5. Save first teach point position
    Save first teach point position
    Press next
    Press next
  5. Repeat the teaching procedure for the other teach point.
    6. 4-position tray holder second teach point
    4-position tray holder second teach point
    Save second teach point position
    Save second teach point position
  6. When done, press Next. Press OK.
Press next
Press next
Teaching complete
Teaching complete