Mitsubishi Electric 3F-14C-WINE, User Manual, Page: 483 / 646

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19.5. Direct Teaching
To teach the position of the robot, you can easily push and move the arm by direct teaching.
The direct teaching function can be used only with the following robot.
Model
Robot model that supports direct teaching. MELFA ASSISTA
.
Jog operation and hand operation cannot be performed while direct teaching is
ON.
.
If the servo OFF, stop operation, or an error occurs, direct teaching is
automatically turned OFF.
.
Direct teaching is automatically turned off when the jog operation panel, hand
operation panel, or operation panel is closed.
.
Before using direct teaching, confirm that the mass, center of gravity, and size of
the robot hand are set correctly. If the set value is incorrect, the robot arm may move
up or down when starting direct teaching.
.
In direct teaching, the robot may move by inertia, so do not let go of the robot arm
until it stops.
.
Work settings are not reflected in direct teaching. The robot may descend
depending on the weight of the work. Do not let go until the robot stops securely.
.
If you are using HNDDAT1 to HNDDAT8, it will be set to HNDDAT0 when the
controller power is turned on again, so the robot arm may move up or down when
starting direct teaching.
Caution