10 Direct Teach
10.1 Direct Teach Description
10-1
HW1485509
HW1485509
10 Direct Teach
10.1 Direct Teach Description
A manipulator equipped with Direct Teach (ex. MOTOMAN-HC10DT)
supports automatic INFORM program generation with hand guiding. This
is accomplished using the Direct Teach Hub on the tool flange of the
manipulator. The Direct Teach Hub has three pairs of buttons, described
below.
Fig. 10-1: Direct Teach Hub
Table 10-1: Direct Teach Attachment Buttons
Button Description
MOVE Button
OR
#1 Button
Press and hold this button to move the manipulator using
hand guiding
TOOL UTILITY
Button
OR
#2 Button
Use this button to activate the tool and automatically add
commands to the job. The duration of the button pushes
results in the following behavior:
- Short-push: Change tool number and toggle
Block
- Long-push
1)
: Teaches the current position and
adds Block I/O commands
1 For a long-push, press and hold the button for more than 1 second.
TEACH Button Use this button to teach a position and automatically add
a Motion command to the job. The duration of the button
pushes results in the following behavior:
- Short-push: Teaches the current position with no
Position Level.
- Long-push
1)
: Teaches the current position with
Position Level = 0. This means that the
manipulator will stop at this position.
Block I/O must be configured properly prior to use of the
TOOL Button. Refer to chapter 6.2 “I/O for Tool” for more
information.
HC10DT
HC20DT
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