FlexPendant Operators Manual 3HAC16590 ... - Technology

5 Jogging5.3.9. Jog in tool coordinates5.3.9. Jog in tool coordinatesExamples of useUse the tool coordinate system when you need to program or adjust operations for threading,drilling, milling or sawing.Tool coordinates definitionThe tool coordinate system has its zero position at the center point of the tool. It therebydefines the position and orientation of the tool. The tool coordinate system is oftenabbreviated to TCP (Tool Center Point) or TCPF (Tool Center Point Frame).When jogging a robot the tool coordinate system is useful when you don’t want to change theorientation of the tool during the movement, for instance moving a saw blade without bendingit.en0300000497Jog in tool coordinatesStepAction1. On the ABB menu, tap Jogging to view jogging properties.2. Tap Motion mode, then tap Linear followed by OK.You do not need to perform this step if you previously selected linear motion.3. Select the proper tool, and if using a stationary tool the proper work object byfollowing the procedure in Selecting tool, work object, and payload on page 112.You do not need to perform this step if you previously selected the tool and/or workobject.4. Tap Coordinate System, then tap Tool followed by OK.5. Press and hold the enabling device to activate the mechanical unit’s motors.6. Move the joystick and the mechanical unit moves along.120Continues on next page3HAC 16590-1 Revision: B