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 Change Station.
  2. Select change station
    Select change station
  3. Select Options and select Teach Module.
  4. Select teach module
    Select teach module
  5. Move the robot arm manually to the 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.
  6. Tool change station teach point
    Tool change station 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. Press Adjust to adjust the tool position, if necessary.
  8. Save teach point position
    Save teach point position
    Adjust teach point position
    Adjust teach point position
  9. When done, press Next. Press OK.
Press next
Press next
Teaching complete
Teaching complete