A method for teaching a planar transport device, in which an operating behavior of at least one handling element of the planar transport device, which is configured as an electrodynamically movable mover and is configured for handling products, is taught by an operator interaction of an operator, which is designed differently from a manual writing of a programming command. The operator interaction takes place directly, preferably free of an additional operator input device, at the handling element in order to specify the operating behavior of the handling element.

Systems and methods of operating power tools. The method includes receiving a command to start a recording mode at a first electronic processor of a first power tool, and receiving at the first electronic processor, a measured parameter from a sensor of the first power tool while a first motor of the first power tool is operating. The method also includes generating a recorded motor parameter by recording the measured parameter, on a first memory of the first power tool, when the first power tool operates in the recording mode, and transmitting, with a first transceiver of the first power tool, the recorded motor parameter. The method further includes receiving the recorded motor parameter at an external device, transmitting the recorded motor parameter to a second power tool via the external device, and receiving the recorded motor parameter via a second transceiver of the second power tool.

A method for operating a technical system in an environment is disclosed, wherein the technical system can be moved, as a whole or in parts, in the environment by a motor. A person controls movements of the technical system in the environment at least temporarily. The technical system has a steering assistance system which a) observes the environment using sensors and, depending on the observed environment, determines reference movement courses for the technical system for future time intervals, b) registers movement courses of the technical system actually controlled by the person in the time intervals, c) carries out a comparison between the reference movement courses and the movement courses actually controlled, and d) depending on the comparison result, assigns one of a plurality of steering quality levels to the person. This allows greater safety in the operation of technical systems which are controlled by people in the environment.

A method for operating a technical system in an environment is disclosed, wherein the technical system can be moved, as a whole or in parts, in the environment by a motor. A person controls movements of the technical system in the environment at least temporarily. The technical system has a steering assistance system which a) observes the environment using sensors and, depending on the observed environment, determines reference movement courses for the technical system for future time intervals, b) registers movement courses of the technical system actually controlled by the person in the time intervals, c) carries out a comparison between the reference movement courses and the movement courses actually controlled, and d) depending on the comparison result, assigns one of a plurality of steering quality levels to the person. This allows greater safety in the operation of technical systems which are controlled by people in the environment.

A control apparatus includes a processor that is configured to control a robot, and receive an object coordinate system set for an object not an end effector and not moving or rotating with the end effector. The processor is configured to execute a first control mode in which the end effector is moved and rotated according to a detected force while the force is detected by a force detector, and execute a second control mode in which, when a relative angle between a predetermined first axis of a moving coordinate system moving and rotating with the end effector and a predetermined second axis of the object coordinate system is smaller than an angle threshold value, the end effector is rotated to make magnitude of the relative angle closer to zero.

In teaching of a robot, a control device controls a movable unit in a first control mode in which the movable unit continuously moves according to a force detected by a force detector and a second control mode in which the movable unit moves by a predetermined movement amount according to the force detected by the force detector. A controller selects a first control mode or a second control mode according to a temporal change in the force detected by the force detector and a magnitude of the force.

A control apparatus includes a processor that is configured to control a robot including an arm and a force detector detecting a force applied to the arm, wherein the processor is configured to control the arm in a first control mode in which the arm is moved in a first direction when a direction of a force detected by the force detector is the first direction and a second control mode in which the arm is moved in a second direction different from the first direction when the direction of the force detected by the force detector is the first direction in teaching of the robot, and select the first control mode or the second control mode according to input by a user.

A robot system includes an arm with a plurality of joints, the arm being configured to assume a first position and a second position, an end effector attached to the arm, the end effector having a specific position, and a force detector configured to detect a force or a torque applied to or generated by the arm or the end effector, and a robot control apparatus configured to receive an output value from the force detector to change the arm from the first position to the second position while the end effector remains in the specific position, and store the second position of the arm in a memory so as to relate the second position of the arm with the specific position of the end effector.

A robot system includes an arm with a plurality of joints, the arm being configured to assume a first position and a second position, an end effector attached to the arm, the end effector having a specific position, and a force detector configured to detect a force or a torque applied to or generated by the arm or the end effector, and a robot control apparatus configured to receive an output value from the force detector to change the arm from the first position to the second position while the end effector remains in the specific position, and store the second position of the arm in a memory so as to relate the second position of the arm with the specific position of the end effector.

Provided is a robot system including a robot; a control device configured to control the robot; a portable teach pendant connected to the control device; and a teaching handle attached to the robot and connected to the control device, where the teach pendant is provided with a first enable switch configured to permit operation of the robot by the teach pendant, the teaching handle is provided with a second enable switch configured to permit operation of the robot by the teaching handle, and the control device enables operation of the robot by the teaching handle only when the first enable switch is in an off state and the second enable switch is switched to the on state, and enables operation of the robot by the teach pendant only when the second enable switch is in an off state and the first enable switch is switched to the on state.