Direct Teaching

Direct Teaching of SCARA Robot

The SCARA robot can be moved manually by freeing a joint to teach. This teaching method is referred to as “Direct teaching”.
Teach a position of the manually moved robot to the specified point number.

  1. Select the [Control Panel] tab and move to the [Control Panel] panel.
  2. Turn OFF the motor of the joint to move in the [Free Joints]. De-energized joint can be moved manually.
  3. Move the robot arm to the position where you want to teach.
  4. Tap the [Teach] button. If the point number is already used, the message asking whether to overwrite the data will appear.
  5. Enter the point label and comment in the message dialog box.
  6. Tap the [OK] button of the message dialog box to temporarily store the robot position.
  7. Tap the [Save] button to save your changes.

Direct Teaching of Force Sensor

CAUTION

Executing the direct teaching with improper settings of the Force Sensor, coordinate transformation, and gravity compensation may result in unintended motion. Be careful when configuring the settings and check operation before executing the direct teaching.

For details of the setting and operation check, refer to the following manual.

"Epson RC+ Option Force Guide"

KEY POINTS

This function is available when Force Guide is setup.

For usage of the Force Guide, refer to the following manual.

"Epson RC+ Option Force Guide"

Teach a position of the manually moved robot to the specified point number.

  1. Select [Direct Teach] and move to [Direct Teach] panel.
  2. Select the mass property object.

CAUTION

Executing the direct teaching with improper settings of the mass property object may result in unintended motion. Be careful when configuring the settings before executing the direct teaching

  1. Select the mode.
  2. Select the motion direction.
  3. Select the hardness.
  4. Reset the Force Sensor.

CAUTION

Be sure to reset the Force Sensor with no external force applied to it. If it is reset with an external force applied to it, the state in which an external force applied is “0”. Therefore, if the force applied is removed, the Force Sensor detects a force even if no force is applied. If executing the direct teach in this state, the robot may move unintentionally. Caution is required in this regard.

  1. Tap the [Direct Teach Start] button. The confirmation dialog box will appear.
  2. Tap the [OK] button on the confirmation panel with turning ON the Enable switch.
  3. Move the robot arm to the position where you want to teach.

CAUTION

  • Executing the direct teaching with improper mode or motion direction may result in unintended motion. Be careful when configuring the setting before executing the direct teach.
  • Apply the force to the hand or workpiece which is attached near the tip than the Force Sensor when applying the force to 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.
  1. Tap the [Teach] button.
    If the point number is already used, the message asking whether to overwrite the data will appear.
  2. Enter the point label and comment in the message dialog box.
  3. Tap the [OK] button of the message dialog box to temporarily store the robot position.
  4. Tap the [Save] button to save your changes.

← TEACH/T1 Mode →

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