Direct Teaching - Epson TP1 Manual

1.3 Direct Teaching

"Direct teach" is a way to teach the SCARA robot directly by setting the teaching joint to
servo-OFF.
Apply the Robot position to the specified point number.
NOTE
The 6-axis robot cannot be moved by hand, execute the jog instead.

(1) Specify the point number by changing the value in [Point] using the <↑> and <↓> keys.
(2) Press the <Jog Dist> key and specify "Free Joint" for [Jog dist].
(3) Servo OFF joint can be moved with hands.
(4) Press the <F4> key to display the [Jog & Teach] screen.
(5) Move the Robot arm to the position to teach.
(6) Press the <Teach> key, the following screen appears.
(7) Press the <OK> key to assign the robot position.
TP1 Rev.8
[Label] display changes by changing the point number.
Set each joint to servo ON or OFF.
<Jog+> key : Lock
<Jog-> key : Free
<F2> key : All Lock : Servo OFF all the joint
<F3> key : All Free : Servo ON all the joint
When the point number is already used, the following screen appears.
Operation 1. Teaching Procedure
: Servo OFF the joint
: Servo ON the joint
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