Assist Direct Function

What Is Assist Direct Function

This functions assists the adjustment by retaining the position and posture of COBOTTA in direct teaching. This function is available in Ver.2.7.* or higher.

This function is set in the [Direct preparation settings] window.

In Free direct mode, the position and posture can be changed freely without using the assist direct function.

Precautions When Operating

• During the direct mode, if the arm moves while you are holding the electric gripper for COBOTTA (hereinafter "electric gripper"), your fingers might get caught between the camera and COBOTTA. Hold the electric gripper section only when performing Rz rotation. In other circumstances, hold anywhere other than the electric gripper section during arm movement.
  Also, do not hold the five-axis side part (marked with red in the figure below) above the electric gripper.
  
  
• During the direct mode, the LED of COBOTTA turns yellow and starts blinking at slow speed as COBOTTA approaches the singular point. Position acquisition of P-type and T-type variables will not be possible once COBOTTA reaches the singular point.
• When the robot reaches the singular point or moves out of the motion space during the assist direct mode, position or posture retain assist stops temporarily. To resume, return the posture of the robot close to a point, where the assist direction function stopped.

Assist Direct Mode List

• XYZ Assist Direct Mode
• RxRyRz Assist Direct Mode
• Rz Assist Direct Mode

XYZ Assist Direct Mode

Use this mode to adjust the position of COBOTTA's tool end freely, while retaining the posture of the tool end.

X movement	Y movement	Z movement

RxRyRz Assist Direct Mode

Use this mode to adjust the posture of COBOTTA's tool end freely, while retaining the position of the tool end.

Rx rotation	Ry rotation	Rz rotation

Rz Assist Direct Mode

Use this mode to rotate only the electric gripper of COBOTTA while retaining the posture and position of the tool end.

Rz rotation