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4.1.2 Direct teaching
Direct teaching is basically the same as teaching playback, except that you move the robot by hand to a
desired position in emergency stop.
Open the "Point teaching" screen
1
and select the point number.
Follow the instructions described in steps 1 to
3 in section 4.1.1, "Teaching playback".
Press the emergency stop button.
2
Move the robot by hand to the
3
target position.
w
WARNING
Do Not tuRN oN thE SERvo DuRING DIRECt
tEAChING.
Press
4
A confirmation message then appears
asking whether to teach the current position.
Press
then press
Selecting "Yes" sets the current robot position
in "Position" for point data. Selecting "No"
cancels the current position setting and
returns to the previous screen.
Perform teaching for other point
5
data.
Specify the desired point number and
repeat the above procedure.
After teaching the positions,
6
press
This returns to the "Point" menu screen.
A
A-18
to teach the position.
RUN
or
to select "Yes" or "No", and
.
.
CLR
Step 4
Teaching current position
Point teaching S=100%
P
1. Run type
2. Position
3. Speed
4. Accel.
5. Decel.
6. Push
Teaching, -/+:JOG
Current pos.
Point teaching S=80%
P
1. Run type
2. Position
3. Speed
4. Accel.
5. Decel.
6. Push
RUN:Teaching, -/+:JOG
Current pos.
24A14-M0-00
NRM
[01]
1
ABS
-
Teaching
100.00
mm
Teach
Current Pos.?
100
%
100
%
100
%
Yes
No
100
%
128.00 mm
[01]
NRM
1
ABS
-
mm
128.00
100
%
100
%
100
%
100
%
128.00 mm
Current robot position is entered here.
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