2.1 Direct teaching switch assignment

The method for setting the switches of the teaching device attached to the robot manipulator is as follows:

1. Select the [Configure] button > [4: Application parameter > 21: Cobot Setup > 2: Direct Teaching Setup > 1: Direct Teaching Constrained Motion] menu.

2. Click the drop-down menu, set functions for the switches, and click the [OK] button.

The functions that can be assigned to the direct teaching switches are as follows:

Figure 17 Direct teaching switches

No.	Function
No.	Function
/	Free motion: The axes move in all directions (fixed).
/	Constraint motion: The axes move only in the assigned directions. X and Y directions based on the tool coordinate system (XY plane) Z direction on the tool coordinate system Angles fixed based on the tool coordinate system: Motion in all directions (RX, RY, and RZ angles are restricted.) Points (positions) fixed based on the tool coordinate system: Only angles can be changed.
	Record positions (fixed).