Executing Direct Teach or Touch Jog

Use Direct Teach or Touch Jog to move the end effector instinctively. Be sure to reset the force sensor before executing Direct Teach or Touch Jog.

For how to reset the force sensor, refer to the following.

Resetting Force Sensor

Key operation	Description
Jog keys	Not in use.
Reset	Executes Reset.
Motor	Turns ON / OFF the motor.
Teach	Executes a Teach operation. For details, refer to the following: Teaching Operation
Speed	Not in use.
Mode	Switches the modes (Direct Teach + Touch Jog, Direct Teach, Touch Jog).
Dist	Switches the Jog Distance for Touch Jog (Long, Medium, Short).
Home	Execute a Home operation.
Save	Saves a point file. For details, refer to the following: Saving Point Data to File
Load	Loads a point file. For details, refer to the following: Loading Point Data from File
▲ / ▼	Adds / subtracts point number by one.
◀ / ▶	Subtracts / adds point number by ten.
Local	Switches to Local number input mode.
Tool	Switches to Tool number input mode.
Arm	Switches to Arm number input mode.
User Dist	Not in use.
Guide	Displays the key operation guide.
Page Up / Down	Changes to the previous or next page.
F1	Changes to the point editing screen.
F2	Changes to the I/O command screen.
F3	Changes to the motion command screen.
F4	Changes to the reset screen of the force sensor. For details, refer to the following: Resetting Force Sensor
F5	Start or end the Direct Teach or Touch Jog operations. For details, refer to the following: Executing Direct Teach or Touch Jog
F6	Changes to the GoAlignHere execution screen. For details, refer to the following: GoAlignHere
F7	Changes to the robot screen. For details, refer to the following: Changing the Robot
F8	Changes to the force setting screen. For details, refer to the following: Setting Direct Teach (Force Setting)
F9	Changes to the Touch Jog setting screen. For details, refer to the following: Setting Touch Jog
F10	Changes to the point number input mode.

Click the [F5] key to set Direct Teach or Touch Jog to ready for operation.

First, the following screen is displayed.

Press the [OK] key to set Direct Teach or Touch Jog to ready for operation. Hold the enable switch to turn the motor on. When it is available, “R” is displayed on the header.
Execute Direct Teach or Touch Jog while holding the enable switch.

While the Direct Teach or Touch Jog is operating, “Executing…” is displayed on the header and any key operations of TP2 is disabled.

To perform point teaching or change parameters, release the hand from the enable switch. When you want to execute the Direct Teach or Touch Jog again, start from 1.
Use Direct Teach and Touch Jog differently depending on the applied force to the force sensor.
- Apply weak force to the force sensor or apply force for a moment to the force sensor:
  
  Execute Touch Jog and the end effector move by the set jog amount. (Motion which is same as Step jog operation).
- Apply strong force to the force sensor:
  
  Execute Direct Teach and the end effector moves according to the set hardness of Direct Teach. (Motion which is same as Continuous jog operation).
- Do not apply force to the force sensor:
  
  The end effector does not move.
  
  If Direct Teach is operating, end the operation.

TIP

You can change the Touch Jog sensitivity and Direct Teach hardness.

For more details, refer to the following sections:

Setting Direct Teach (Force Setting) - [Changing the hardness of Direct Teach]
Setting Touch Jog - [Setting the sensitivity of Touch Jog]

CAUTION

Apply the force to the hand or workpiece which is attached near the tip than the Force Sensor.

The Force Sensor cannot detect the force when it is applied to the robot arm or the Force Sensor itself, and it may result in unintended robot motion. Caution is required in this regard.
When operating the robot, pay attention not only to the position of the hand or workpiece, but also to the movement of the robot arm.

Especially when the robot is near the singularity, the robot arm may move significantly. Caution is required in this regard.
When using Direct Teach, be sure to verify that the setting of jog distance for Touch Jog is as intended before use. If you make an incorrect setting, the robot may move more than expected, possibly results in a collision. Caution is required in this regard.

Motion near the singular point

Direct Teach function is not available near the singular point. Only use Touch Jog function to move the end effector.

The following screen appears when the end effector gets in the singular point, and the robot operation is paused.

TP2 alerts a warning sound at the same time.
Press the [OK] key to disappear the display and rerun to the [Direct Teach + Touch Jog] screen.
Confirm that Touch Jog function is enabled on the the header and execute Touch Jog.
- Header display when Touch Jog is enabled:
  
  Or

TIP

When near the singular point and Touch Jog is disabled, the end effector cannot be moved.

For operations to enable Touch Jog function, refer to the following.

Switch the function

When the robot moves from the singular point, the following screen is displayed, and the robot operation is paused.

The warning sound will be stopped at the same time.
Press the [OK] key to disappear the display and rerun to the [Direct Teach + Touch Jog] screen.

Now, Direct Teach function is available.

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