Hardware recommendations:

• D, E or F series controller

Prepare reference cones. Below is a photo of an example cone.

Some windows have quick links. To use them, enter the code in the window opened by pressing the R button in the general view. For example, R0204

1. Switch the Teach Lock on the Teach Pendant and the key switch on the controller to TEACH mode.

2. Select the AUX menu –> 4. Basic setting –> 5. Auto Tool Coordinates Register (R0405).
3. Enter Tool Name (e.g. lp1)
• Select Tool Type: OnlyX,Y,Z
• Select Program Save: Enable
Confirm with ENTER.

4. Turn on the drives.
Move the tip of the tool mounted on the robot to the reference cone in the following order
-> A4 -> A3 -> A2 -> A1. Once you reach the position, save the point with the REC button.

Description of the functionality of the PGSAVE, PGLOAD, PGSELECT, STEPMOVE options.
PGSAVE allows you to create a program in the controller's memory that contains position variables defined in this window (for the 4-point method A1, A2, A3, A4).
PGLOAD allows you to load a program created earlier using the PGSAVE function, which contains defined position variables.
(for the 4-point method A1, A2, A3, A4).
PGSELECT runs the program loaded using the PGLOAD function into the main area of the Teach Pendant (visible by the program name displayed in the PROGRAM field at the top of the screen) so that you can navigate to the points defined in this program in CHECK mode (for the 4-point method A1, A2, A3, A4).
STEPMOVE sets the active program step to the one that contains the currently selected position variable from the available ones.
(for the 4-point method A1, A2, A3, A4). For the photo below, the step with point A1 is marked.
9. Select PGSAVE and then YES. Confirm your selection with ENTER.