4 Teaching
4.1 Teaching Operation
4-6
HW1485509
HW1485509
4.1.4 Teaching Steps
There are two basic teaching steps for the manipulator: move or stop.
The following sections describe the method of how to teach Motion
Instruction and Timer in the job.
4.1.4.1 Teaching Motion Instructions
Whenever one step is taught, a motion instruction is inserted. Steps can
be taught in sequence as shown in fig. 4-2 “Registering Motion
Instruction”. Steps can also be inserted between already registered steps,
as shown in the right fig. 4-3 “Inserting Motion Instructions”
1. Before jogging the Robot, select the desired Jogging Mode for easier
movement. Refer to chapter 4.1.3 “Motion Type (Interpolation Type)”
for details.
2. Use the jogging buttons on the touch screen or membrane keys to
move the manipulator to the desired position.
3. Select the Inserting Line, Tool Number and Interpolation Type.
4. Hold the Enable Switch ON with Servo ON, and press {+ TEACH} to
register. If long press {+ TEACH}, teaches the current position with
Position Level = 0. This means that the manipulator will stop at this
position.
Selecting the Inserting Line
1. Select {Current Job} under {MENU}.
– The contents of the currently-selected job are displayed.
2. Move the cursor to a line immediately before the position where a
motion instruction is to be registered.
3. Grip the Enable switch to turn the servo power ON.
4. Move the manipulator to the desired position using {Jog Keys}.
Fig. 4-2: Registering Motion
Instruction
Fig. 4-3: Inserting Motion
Instructions
Step 2Step Insertion
Step 3
P1
Step 1
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