3. Teaching

Record steps and enter HANDPRES and HANDOPEN commands so that the operation of a workpiece can be executed by Servo hand manually or automatically.

Prior to beginning teaching, verify that the following steps are completed.

(1) Set parameters for robot body.

- Registration of additional axes (Servo hand axis, Servo parameter)

- Encoder offset, Axis constant, Softlimit, Servo hand parameter etc……

(2) Assign a user key.

- Servo hand manual squeezing, servo hand manual opening

(3) Complete the servo hand axis basic operation (jog) and servo tuning.