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4. Editing the point data
4.1.2 Direct teaching
Direct teaching is basically the same as teaching playback, except that you move
1
the robot by hand to a desired position in emergency stop.
Open the "Point teaching" screen and select the point number.
1
Follow the instructions described in steps 1 to 3 in section 4.1.1, "Teaching playback".
2
Press the emergency stop button.
2
Move the robot by hand to the target position.
3
3
Do not turn on the servo during direct teaching.
WARNING
Press
4
4
A confirmation message then appears asking whether to teach the current position.
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.
5
6
7
Perform teaching for other point data.
5
Specify the desired point number and repeat the above procedure.
After teaching the positions, press
6
This returns to the "Point" menu screen.
8
9
H-22
HT1 Operation Guide
to teach the position.
RUN
or
to select "Yes" or "No", and then press
Point teaching S=100%
NRM
P
1
1. Run type
Teaching
2. Position
100.00
Teach
3. Speed
Current Pos.?
4. Accel.
5. Decel.
Yes
6. Push
No
Teaching, -/+:JOG
Current pos.
128.000 mm
[01]
Point teaching S=80%
P
ABS
-
1. Run type
mm
2. Position
100
%
3. Speed
100
%
4. Accel.
100
%
5. Decel.
100
%
6. Push
RUN:Teaching, -/+:JOG
Current pos.
Current robot position is entered here.
.
CLR
.
NRM
1
ABS
128.000
100
100
100
100
128.000 mm
[01]
-
mm
%
%
%
%
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