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1.3 Direct Teaching
1.3.1 Direct Teaching of SCARA Robot
"Direct teaching" is a method to teach the point directly by manually moving the SCARA
robot while the motor of the joint to teach the point is off.
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
(3) Select the [Jog & Teach] tab and move to the [Jog & Teach] panel.
(4) Move the robot arm to the position where you want to teach.
(5) Tap the <Teach> button.
(6) Enter the point label and comment in the message dialog box.
(7) Tap the <OK> button of the message dialog box to temporarily store the robot
(8) Tap the <Save> button to save your changes.
1.3.2 Direct Teaching of Force Sensor
Executing the direct teach 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 teach.
CAUTION
For details of the setting and operation check, refer to the following manual.
EPSON RC+ 7.0 Option Force Control 7.0
NOTE
This function is available when Force Control 7.0 is setup.
For usage of the Force Control 7.0, refer to the following manual.
EPSON RC+ 7.0 Option Force Control 7.0
Apply the Robot position to the specified point number.
(1) Select the [Control Panel] tab and move to [Control Panel] panel.
(2) Tap the <MOTOR ON> button and turn ON the motor.
(3) Select the [Direct Teach] tab and move to [Direct Teach] panel.
(4) Select the [Force Setting] tab and move to [Force Setting] panel.
(5) Select the mass property object.
RC700-A option TP3 Rev.8
be moved manually.
If the point number is already used, the message asking whether to overwrite the data
will appear.
position.
Operation 1. Teaching Procedure
31
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