2.1 Usage Conditions of Hand Guiding Function
2.2 Overview of Hand Guiding Function
2.3 System Configuration of Hand Guiding Function
2.3.1 System Configuration for Using Hand Guiding Device of Handle Type
2.3.2 System Configuration for Using Hand Guiding Device of Grip Type
2.4 Connection for Hand Guiding Device
2.5 Connection for Presence Detection Sensor
2.6.1 Setting of Speed Limiting Function
2.6.2 Setting Details Upon Shipment
3 Setup of Hand Guiding Function
3.2 Setting of Speed Upper Limit
3.3 Setting of Speed Coefficient
3.4 Setting of Operation Angle Limit
3.7 Setting of Sensor Mounting Angle
3.7.1 Tool Coordinate System and Sensor Coordinate System
3.7.2 Calculating Setting Value of Sensor Mounting Angle
3.7.3 Setting Example of Sensor Mounting Angle
3.7.4 Setting Confirmation of Sensor Mounting Angle
4 Hand Guiding Function Execution Procedures
4.1 Execution Conditions of Hand Guiding Function
4.2 Hand Guiding Function Execution Procedures
4.3 Job Creation for Hand Guiding Function Execution
4.4.3.1 Force Sensor Input Mode
4.5 Calibration of Force Sensor
6 User Variables and General I/O Signals to be Used with Hand Guiding Function
7.1 Robot Operating Method when Force Sensor Disconnected
7.2 Robot Operating Method When Hand Guiding Device Disconnected
9 Specification for Collaborative Robot
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