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9.3 Teaching
9.3.1 Preparation for Teaching
Before teaching, please verify the emergency stop buttons are normal. If the manipulator is
used for the first time, you need to verify the mechanical zero.
9.3.1.1 Emergency Stop Buttons Verification
Before using the manipulator, please verify all the emergency stop buttons on the control
cabinet and the teach pendant are function correctly. Verify the emergency stop button is pressed,
ensure the servo power supply is disconnected and whether the manipulator alarms. When an
external emergency stop button is connected, you should also ensure that the emergency stop
button is valid.
9.3.1.2 Mechanical Zero Verification
Each point data of the manipulator is the angle value related to each axis based on the
mechanical zero point. If there is deviation for the mechanical zero point, all the points will be
wrong, so the mechanical zero point must be verified before operating the manipulator.
Doc No.：T202001005
Page 76 of 130
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