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19.5.2. Direct teaching mode switching
You can switch the direct teaching mode by mode selection combo box. When "Pan" is selected, the operation
direction is limited to the translation direction.
Mode
Free
Pan
You can also use the operation button [DIRECT TEACHING] on the robot arm to start direct teaching and switch
the direct teaching mode.
Operation
Long push
(2 seconds or more)
Push
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Figure 19-20 Direct teaching mode switching
Table 19-4
Operates with each joint of the robot free.
The robot moves along the direction of the coordinate
axes.
Table 19-5
Direct teaching startup and mode switching
Direct teaching status
OFF
ON
OFF
ON
Direct teaching mode
Option
Motion
Direct teaching turns on.
Direct teaching turns off.
-
The operation system switches in the
following order.
Free → Pan
If it is pressed during Pan, it will return to
free.
19-486
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