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.