Chapter 4: Operation Figure 4-9. World Mode (Four-Axis Cobra Robot Shown) To position the robot while in World mode: 1. Press the Jog Mode button until World is displayed in the Jog Mode indicator. 2. Press and hold the '+' button to move the robot tool flange in the positive direction; press and hold the '–' button to move the flange in the negative direction Tool Mode When Tool mode is selected, movement in the X, Y, or Z direction is along an axis of the Tool coordinate system. The Tool coordinate system is centered at the robot tool flange with the Z- axis pointing away from the flange. On most robots, the positive X-axis is aligned with the cen- ter of the tool flange keyway.
T20 Pendant User's Guide, 10433-000 Rev. E Page 26 of 50