Teaching Positions using Align Options

The Jog command allows you to align a robot as well as end-of-arm tools and grasped components.

1. On the PROGRAM tab, in the Manipulation group, click Jog.
2. Select the robot you want to program.
3. In the Jog panel, Robot section, do all of the following:
   • In Base, click the base frame you want to reference.
   • In Tool, click the tool frame (tool center point) you want to reference.
   • In Coordinates, click the coordinate system you want to reference.
4. On the PROGRAM tab, in the Tools group, click Align, and then align the robot as you would a component. In this case, you are aligning the point of reference for a robot, for example a tool frame, in order to configure robot joints.
5. In the Program Editor panel, Statements toolbar, create a statement for the type of motion that you want to use for the current position of robot.