Direct Teach + Touch Jog

Direct Teach and Touch Jog are functions that apply force to Force Sensor and move the end effector directly by the hands. You can move a robot to the teaching position easily when teaching points. Use the Teach Pendant (TP2, TP3, TP4) for operations.

• Direct Teach
  Function to move the end effector continuously depending on applied force while applying force to Force Sensor. This function is effective for rough positioning. By changing Hardness parameter, you can change the mobility of the robot when applying force. Also, this function can move the robot in the specified direction, so you can move the robot on a straight line or a plane surface.

• Touch Jog
  Function to move the end effector for a certain distance by lightly pushing Force Sensor. This function is effective for fine positioning. The moving distance can be changed. Only TP2 is available for the operation.

Depending on how to apply force to Force Sensor, Direct Teach and Teach Jog can be executed seamlessly. That is, you can use these functions by applying force to Force Sensor continuously to move the robot to a rough position, then pushing Force Sensor lightly to adjust the robot position accurately.

For details on executing Direct Teach + Touch Jog or changing each setting, refer to the following manuals.
"Robot Controller Option Teach Pendant TP2 - Operation - Direct Teach + Touch Jog"
"Robot Controller Option Teach Pendant TP3 - Operation - Direct Teaching of Force Sensor"
"Robot Controller Option Teach Pendant TP4 - Direct Teaching of the Force Sensor"