# 2. Direct teaching Direct teaching is a method of teaching the collaborative robot in which the teaching device attached to the manipulator is used for moving the robot directly. Because direct teaching specifies the robot’s position by moving it directly, you can teach the robot in an intuitive manner without specialized knowledge. Direct teaching methods include the free motion method, where all axes of the robot can be moved freely, and the constraint motion method, where the axes of the robot can be moved only in specific directions. The axial movement direction of the constraint motion method can be used by assigning it to the teaching switch of the robot manipulator. --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://hyundai-robotics.gitbook.io/cobot-safety-function/sf-english/2-direct-teaching.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.