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Chapter 7 Teaching Operation
This Chapter describes teaching operation using force sense control.
7.1 Teaching Position Precautions
When using force sense control, the robot control controls the following two types of position.
Position Command
Type
Description
(1) Position command
This is a movement command generated by the robot program and
JOG operation. It is referenced by the current position display and
teaching operations. (Position displayed on T/B)
(2) Force sense
position command
Position command offset by force sense control.
When force sense control is enabled, the robot moves based on this
command.
By performing teaching operation (teaching operation from T/B or current position reading from RT
ToolBox3) from the teaching box or RT ToolBox3 while force control is enabled, the position
command (1) is taught, and a position different from the actual robot position (2) is taught.
When teaching the position offset by the force sense control, perform "teaching position search" with
the force sense control enabled, or disable the force sense control.
Teaching operation precautions
If using force sense control, the position displayed on the teaching pendant and the actual robot
position will differ. Since the difference affects the teaching operation, fully understand the
following "Teaching Position Precautions" and perform the teaching operation.
Pick Up
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