2.2 Driving the robot by direct teaching

1. Set the operating mode to the manual mode.

2. Press the <Motor> key on the teach pendant to supply servo power to the motor. The motor lamp will blink.

3. Press a direct teaching switch (1, 2, 3, or 5). The motor’s break will be released, and the direct teaching function will turn on. In the status display line of the operating program window, the operating method will be displayed as “Direct teaching.”

4. While the direct teaching switch (1, 2, 3, or 5) is pressed, hold and move the robot to teach it the desired position.

• To move all the axes of the robot freely, press a direct teaching switch (1 or 2).

• To move all the axes of the robot in assigned directions only, press a direct teaching switch (3 or 5).

• To record the position of the robot, press a direct teaching switch (4).

[Caution]

• Use the direct teaching functions in a safe environment only. If the tool or a nearby structure has a sharp part or a part that can cause entanglement, do not use the direct teaching functions.

• Before using the direct teaching functions, make sure to set the information on the tool, including the length, weight, and center of gravity. In addition, make sure to check the robot’s installation angle and direction of gravity.

• Set the enabling or disabling of the direct teaching functions only when the robot is at a complete stop. Changing the status of a direct teaching function while the robot is moving may cause the robot to malfunction.