Coordinate System

The robot's coordinate systems provide multiple means of jogging the robot.

Thereby using different frames of reference to determine how the robot will move in 3D space.
The user can move the robot via the Jogging Panel, or by using the buttons on the right side of the pendant. Changing the coordinate system will dictate how the robot will move and react with each button press.

The following coordinate systems are available:

• Smart Frame:
  Move the robot relative to the orientation of the Smart Pendant. Rotate the pendant or face a different direction to influence the relative jogging direction

• Joint:
  Move each axis of the robot independently.

• World:
  Move the robot in cartesian space relative to the robot’s base frame.

• Tool:
  Move the robot in cartesian space relative to the robot’s current tool frame. Changing the active tool will update the reference frame.

  The Z-axis is often flipped, where Z+ is down, due to how the tool axes are defined.

• User:
  Move the robot in cartesian space relative to some user defined reference frame.

• Hand Guiding:
  Move the robot via the Direct Teach (DT) buttons on the end of a collaborative arm. Drag and reorient the robot by hand.

To change the robot coordinate system, press on the shown button, and select the desired option.