Add an Approach Program

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

1. Select ProgramGetting Started - Image 34 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 ProgramGetting Started - Image 35 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

5. Select the Approach target

6. Select ProgramGetting Started - Image 36 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