Follow these steps to create a program that moves from the Home target to the Approach target:

1. Select Program➔ Add Program from the menu or the corresponding button in the toolbar (as shown in the next image)

2. Rename the program to ApproachMove

3. Select the Home target

4. Select Program➔ Move Joint Instruction (or the corresponding button in the toolbar)
Two instructions will be added automatically to tell the robot what tool frame and reference frames we are using

Note: If no target is selected, a new target will be created at the same location of the robot.

5. Select the Approach target

6. Select Program➔ Move Joint Instruction again

Double click the ApproachMove program and it will execute the program simulation. The simulation bar and an estimated cycle time will be displayed.

Getting Started - Image 37

Note: More information about how to add robot programs and instructions is available in the robot program section.