Direct Teaching Mode - Denso SMT7 Instruction Manual

Chapter 4 Configuring the Joint Parameters
4.8.3

Direct Teaching Mode

This section describes the direct teaching mode in the SMT7. The direct teaching
mode allows you to move the joint by hand (without using the teach pendant) with the
motor OFF and teach the current position to a joint variable, position variable, or
homogeneous transform matrix variable. (Usual teaching requires the motor to be
turned ON.)
Note 1: In the SMT7, the system has no air balance cylinder on the Z-axis, so the
operation procedure for the direct teaching mode differs from that of the conventional
4-axis robots.
Note 2: In the SMT7, the brake is not released in the direct teaching mode.
■ From the teach pendant
Access: Top Screen―[F2 Arm]―[F12 Maint.]―[F3 Brake]
(1) In the Auxiliary Functions (Arm) window, press [F3 Direct.].
(2) The system message "The direct mode is started." appears.
The following message will appear. Press the OK button.
Caution: The system message "The specified brake(s) will be
released by pressing the brake release button." appears.
But the SMT7 series, the brake is not released.
If pressing the OK button, the direct teaching mode will be started.
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