ABB IRC5 with FlexPendant, Руководство по эксплуатации

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4.6.6 Selecting coordinate system
Coordinate systems for jogging
The coordinate system most suitable for your jogging depends on many things.
See section
Coordinate systems for jogging on page 123 , for more information.
There are two ways to select coordinate system:
• Using the Jogging window on the ABB menu.
• Using the Quickset menu Mechanical unit , see Quickset menu, Mechanical
unit on page 79 .
Prerequisites
Select motion mode suitable for the intended jogging.
Stationary tools in the tool coordinate system
If your robot system uses stationary tools, you must select both the proper tool
and the proper work object (held by the robot) to jog in tool coordinates.
The tool coordinate system is defined by the position and orientation of the
stationary tool and is fixed in space. To perform the intended operations you move
the work object. This way positions can be expressed in the tool coordinate system.
Selecting coordinate system
Use this procedure to select coordinate system in the Jogging window.
Action
On the ABB menu, tap Jogging . 1
Tap Coordinate System . 2
Tap to select a coordinate system. 3
Tap OK . 4
138 Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
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4 Jogging
4.6.6 Selecting coordinate system