HW1484764
Configuring Each Function
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HW1484764
3.7.2. Adding Operation Instructions to a Job by Using the Direct Teach Button (for Only the
MOTOMAN-HCxxDT (Equipped with the Direct Teach Button))
After you move the robot by the hand guiding to the position where you want to teach it, release
the direct teach button [1] and press the TEACH button to add an operation instruction.
The move instruction added when you do so is the same instruction that is inserted when you
press [INSERT] and then [ENTER] on the programming pendant.
Note: The button [2] is not used by factory default. The button [2] is assigned to the external
output #20012. You can use it for such a purpose as opening/closing the tool depending on your
needs. For more information on the external outputs, refer to Section 9.6.
・ The maximum speed at which you can move the robot by the hand guiding is limited
to the manual operating speed for the currently selected teach mode. If the manual
operating speed setting is low, so is the maximum speed and the manipulator may
feel heavy.
・ If the hand guiding operation feels heavy, check and correct as needed the manual
operating speed setting for the teach mode.
・ Adding a force before pressing the button [1] results in one of alarms 8006 to 8008.
You must press the button [1] without and before adding a force.
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