Setting Direct Teach (Force Setting)

Change the setting of Direct Teach function.

The following screen appears by pressing the [F8] key in the [Direct Teach + Touch Jog] screen.

Press the [Page Up] [Page Down] keys to see all pages.

	6-axis Robot
Page 1
Page 2

Key operation	Description
[Numeric keys]	(Available in the number input mode. Inputs a number.)
CLR	(Available in the number input mode. Clears the number to 0.)
▲ / ▼	Select an item to be modified.
◀ / ▶	Display the choices rotationally and use ▲ / ▼ key to select and temporary fix the items.
Page Up / Down	Changes to the previous or next page.
OK	Fix the changes and rerun to the [Direct Teach + Touch Jog] screen.
Cancel	Cancel the changes and rerun to the [Direct Teach + Touch Jog] screen.
F5	Return to the [Direct Teach + Touch Jog] screen.

Changing Mass Property Object Number

Changing the Coordinate system mode

Use ▲ / ▼ key to move the cursor to “Coordinate”.
Use ◀ / ▶ key to change the coordinate system mode.

Display changes in order of Base → Local → Tool
Perform either of the following steps.
- Update Direct Teach setting:
  
  Press the [OK] key.
  
  Update the Direct Teach settings and return to the [Direct Teach + Touch Jog] screen.
- Do not uprate Direct Teach setting:
  
  Press the [Cancel] key.
  
  Return to the [Direct Teach + Touch Jog] screen without updating the the Direct Teach settings.
- Set other parameters of Direct Teach settings:
  
  Use ▲ / ▼ key to move the cursor to the other parameter.

Changing the hardness of Direct Teach

Use ▲ / ▼ key to move the cursor to “Hardness”.
Use ◀ / ▶ key to change the hardness of Direct Teach.

Display changes in order of Soft → Medium → Hard.
Perform either of the following steps.
- Update Direct Teach setting:
  
  Press the [OK] key.
  
  Update the Direct Teach settings and return to the [Direct Teach + Touch Jog] screen.
- Do not uprate Direct Teach setting:
  
  Press the [Cancel] key.
  
  Return to the [Direct Teach + Touch Jog] screen without updating the the Direct Teach settings.
- Set other parameters of Direct Teach settings:
  
  Use ▲ / ▼ key to move the cursor to the other parameter.

Changing the direction

Use ▲ / ▼ key to move the cursor to “Direction”.
Use ◀ / ▶ key to change the direction.

Display changes in order of Free → Line → Plane → Rotation.
Use ▲ / ▼ key to move the cursor to “Detail”.
Use ◀ / ▶ key to set the details of the motion direction.

Display changes depending on the motion direction selected in “Direction”.

Use the following table as a reference to set the details of the motion direction.

Direction	Detail	Description
Free	Move&Rotate Move Rotate	Move the end effector freely according to the selected coordinate system mode.
Line	X Y Z	Move the end effector on the selected straight line according to the selected coordinate system mode.
Plane	XY YZ XZ	Move the end effector on the selected plane in the selected coordinate system mode.
Rotation	RX RY RZ	Rotate the end effector around the selected axis according to the selected coordinate system mode.