ABB IRC5 with FlexPendant, Operating Manual

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4.2 Coordinate systems for jogging
Coordinate systems
A coordinate system defines a plane or space by axes from a fixed point called
the origin. Robot targets and positions are located by measurements along the
axes of coordinate systems.
A robot uses several coordinate systems, each suitable for specific types of jogging
or programming.
• The base coordinate system is located at the base of the robot. It is the
easiest one for just moving the robot from one position to another.
• The work object coordinate system is related to the work piece and is often
the best one for programming the robot.
• The tool coordinate system defines the position of the tool the robot uses
when reaching the programmed targets.
• The world coordinate system that defines the robot cell, all other coordinate
systems are related to the world coordinate system, either directly or
indirectly. It is useful for jogging, general movements and for handling stations
and cells with several robots or robots moved by external axes.
• The user coordinate system is useful for representing equipment that holds
other coordinate systems, like work objects.
Default settings
If you change coordinate system in the jogging properties, this will automatically
be reset to default settings after a restart.
Linear mode
For each mechanical unit the system will by default use the base coordinate system
for the linear motion mode.
Reorient mode
For each mechanical unit the system will by default use the tool coordinate system
for the reorientation motion mode.
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Operating manual - IRC5 with FlexPendant 123
3HAC050941-001 Revision: G
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4 Jogging
4.2 Coordinate systems for jogging