10 Direct Teach
10.4 Direct Teach Example
10-7
HW1485509
HW1485509
10.4 Direct Teach Example
The following INFORM program is an example of how to teach “pick and
place” motion using Direct Teach.
Line Tool Instructions Comment Tasks
1 [0] JointMove Speed=10.00% Start position Short-push Teach Button
2 [0] JointMove Speed=10.00% Approach position for pick Short-push Teach Button
3 [0] LinearMove Speed=50.0mm/s
PositionLevel=0
Pick position Long-push Teach Button
4 [1] LinearMove Speed=50.0mm/s Special Line for changing
Tool number.
(Same position as previous
line)
Short-push Tool Button
Long-push Tool Button
5 Toggle Tool #0 to #1 Toggle tool I/O
6 [1] LinearMove Speed=50.0mm/s Short-push Teach Button
7 [1] LinearMove Speed=50.0mm/s Approach position for
placing
Short-push Teach Button
8 [1] LinearMove Speed=50.0mm/s
PositionLevel=0
Place position Long-push Teach Button
9 [0] LinearMove Speed=50.0mm/s Special Line for changing
Tool number.
(Same position as previous
line)
Short-push Tool Button
Long-push Tool Button
10 Toggle Tool #1 to #0 Toggle tool I/O
11 [0] LinearMove Speed=50.0mm/s Short-push Teach Button
12 [0] JointMove Speed=10.00% Move back to start position Short-push Teach Button
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