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 Change Station.
  2. Select change station
    Select change station
  3. Select Options and select Check Teaching.
  4. The on-screen graphic displays the teaching point for the tool.
  5. Select check teaching
    Select check teaching
  6. To check the teach point, press Check.
  7. The robot arm moves to the teach point, lowers the tool to the teach point, and verifies 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.
  8. Check teach point
    Check teach point
    Tool change station teach point
    Tool change station teach point
  9. When the teaching is checked, press Next on the PAL terminal.
  10. Press next
    Press next
    Check teaching complete
    Check teaching complete
  11. Press OK.
  12. The robot arm moves back to the home position.


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 Tool change station teaching).