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1. Product Overview

The programming-free remote control teaching system is a new generation of teaching technology developed by our company for spraying small batches, multiple varieties, and complex special-shaped parts. The emergence of this technology allows ordinary workers to spray once with the teaching handle, and the robot can record and reproduce the spraying trajectory 1:1. Since there is no inertia and resistance, the robot can fully reproduce the workers’ spraying skills and techniques, ensuring that every product produced is made by a master.

Different from the traditional teaching pendant programming method, the programming-free remote teaching technology does not require code editing. The teaching process is no different from the workers’ normal spraying process. Ordinary workers can easily get started after simple training, which greatly reduces the threshold of teaching. At the same time, the teaching process and the manual spraying process are combined into one, and the programming efficiency is nearly 100 times higher, which significantly reduces the time and cost of integrators programming and debugging at the customer site.

Different from drag-and-drop teaching, the biggest advantage of programming-free remote control teaching technology is that there is no inertia and resistance. The teaching process is no different from the workers’ usual spraying process. The workers can freely play with the teaching handle and fully integrate their spraying experience and skills.

The robot’s reproduction trajectory is integrated into the robot’s reproduction trajectory to ensure that every product produced is made by a master; secondly, the programming-free remote control teaching technology adopts a human-machine separation operation mode, and there is no physical contact between the operator and the robot, so safety is fully guaranteed; in addition, the programming-free remote control teaching technology adopts a common industrial robot body, and uses harmonic reducers and RV reducer transmissions. There are no gears, chains, cylinders and other transmission mechanisms, so that each reproduction trajectory remains highly consistent, and the reproduction accuracy is guaranteed to ensure the consistency of product quality.

Table 1 Comparison of various teaching methods

Serial numberTeaching pendant programmingDrag and drop teachingProgramming-free remote control teaching
PrinciplePoint-to-point code editing trackManually dragging the robot end to demonstrate the trajectoryHolding the teaching handle to demonstrate the trajectory
Difficulty of operationRequires multiple professional technicians to operateOrdinary workers can operate
Programming efficiencyLowHigh



Low operating threshold;
fast trajectory generation and short component replacement time
 1. Flexible, no inertia and resistance,
suitable for complex and special-shaped parts;
2. Human-machine separation, inherently safe;
3. High trajectory reproduction accuracy and strong consistency ;
DisadvantagesThe development cycle is long and not suitable for small batch and multi-variety scenarios1. There is inertia and resistance, it is not flexible, and
it is difficult to handle special-shaped parts;
2. Human and machine are mixed, and there are safety hazards;
3. The trajectory reproduction accuracy is low and the consistency is poor;


2. Technical Parameters

2.1 Teaching range

Figure 1 Schematic diagram of teaching range

The programming-free remote control teaching system measures and automatically records the operator’s teaching trajectory through the cooperation of the teaching box and the teaching handle. The teaching range is mainly determined by the teaching box. The teaching box can be installed in two ways: upside down installation and horizontal installation. Figure 1 shows a schematic diagram of the teaching range when the teaching box is installed upside down.


It should be noted that the effective teaching range of the teaching box only represents the area that the teaching system can accurately detect. The trajectory taught within the effective teaching range of the teaching box does not necessarily mean that it can be reproduced on the robot body, because the robot body is restricted by various physical factors such as arm length, joint angle, angular velocity, angular acceleration, etc., and may not meet the requirements for teaching trajectory reproduction. Therefore, in order to give full play to the performance of this system, it is necessary for the operator to have a certain degree of understanding and mastery of the characteristics and indicators of the robot body.


2.2 Teaching accuracy

The teaching accuracy is related to factors such as the processing and assembly accuracy of parts. At the same time, the teaching accuracy near the vertical axis of the teaching box is relatively high. After actual measurement, when the teaching handle is located in the core area of the teaching range, the displacement accuracy in the teaching trajectory is about 2~5m; when the handle is located at the edge of the teaching range, the displacement accuracy is about 10m. The speed during teaching will also affect the teaching accuracy. The accuracy is higher in static or low speed, and the accuracy will be reduced to a certain extent in the dynamic process due to the existence of following errors.

Table 2 Technical parameters of programming-free remote control teaching system

Serial numberContentParameterRemark
1Number of supported axes1. Tandem axes: The system supports up to 7 tandem axes as standard ;
2. Additional axes such as turntables and guide rails support up to 12 axes;
If you need to support more axes, please contact our sales personnel
2DisplacementStatic accuracyAbout 2~5mm 
Dynamic accuracyRelated to the specific situation
Teaching rangeManual operation range
3attitudeAccuracyWithin 1°For higher requirements, please use customized
4Communication InterfaceUse EtherCAT to communicate with the servo drive;
RJ45 port;
Communication with PLC and other host computers supports TCP/IP;
RJ45 port;
For other communication protocols, please contact
our sales personnel
5Supported HardwareSupport EtherCAT type servo driveRecommended servo drive model
6sizeTeaching boxL250mm*W200mm*H120mm 
Teaching handleL220mm*W60mm*H200mm
Industrial ComputerL155mm*W58mm*H240mm
IO ModuleL200mm*W90mm*H45mm
7weightTeaching box8.5kg 
Teaching handle300g (without spray gun and fixture)
8powered byDC24V 
9Operating temperature-10℃~+75℃It is recommended to teach in an environment of +10℃~+55℃

*Please note: Due to product differences, there may be some errors in parameter measurement!


The programming-free remote control teaching system currently has two versions: stand-alone version and assembly line version. The stand-alone version is mainly used in situations where there is no line body, and can be used in conjunction with a rotating turntable to complete the spraying action; the assembly line version is mainly used in assembly line spraying scenes, and can be used in conjunction with hanging lines, ground rails and other moving lines to achieve the spraying process.


Figure 2 Schematic diagram of the stand-alone version


Figure 3 Schematic diagram of pipeline version


3. Product List

The core components of the programming-free remote control teaching system provided by our company include industrial computers, teaching boxes, teaching handles, and I0 modules.

As shown below.

(1)Industrial computer
(2) Teaching handle
(3)Teaching box
(4)IO Board

Figure 4 Core components of the programming-free remote control teaching system

Figure 5 Appearance of the programming-free remote control teaching system

Table 3 Parameters of standard core components

Serial numberContentParameterQuantityRemark
1Industrial Computeri3 processor; 8G DDR4 memory; 128G solid state
built-in robot control system software;
1 piece 
2Teaching handleSize: L220mm*W60mm*H200mm1 pieceNo spray gun fixture included
3Teaching boxSize: L250mm*W200mm*H120mm1 piece 
4IO ModuleGuide rail installation, EtherCAT bus interface;
NPN type, 16DI+16D0;
2 pieces 
Serial numberProjectParameterQuantityRemark
1EncoderPhotoelectric encoder, 5V power supply, differential output;
line number: recommended 1000p/r
1 piecePipeline version use
2Encoder mounting bracketInstall with encoder1 set
3Photoelectric sensor switch24V power supply, through-beam type, NPN output1 piece
4Turntablecustom made Standalone version
5Electronic handwheelPulse generator, used to detect whether the teaching trajectory interferes1 piece 
6Spray gun fixtureMatches with the teach handle and clamps the spray gun at the same time1 pieceNeed to
be customized according to the spray gun