4.10 Available Tools Figure 4-14. Available Frames Screen NOTE: Once you use Jog Mode to cycle to another jog mode, you cannot return to Frame mode without going back to this screen. Enable Frame-Based Jogging 1. From the Home 2 screen, press the Frame soft key. The Available Frames screen opens. 2. Use the arrow buttons to select the desired frame. 3. Press the Jog soft key to enable jogging based on the selected frame. The system will now jog in Frame mode (this is displayed as JOG REL: ). A Note about Frame-mode Jogging When locations are taught while in frame-jogging mode (see the previous section), they are taught relative to the selected frame.
When locations are jogged to while in frame-jogging mode, they are jogged relative to the currently-selected frame. This feature was designed to allow you to teach, and then jog to locations relative to another frame, such as a palette, all from the pendant. However, it does provide the opportunity for confusion: The most likely user error here would be to teach a position in “JOG REL: XXX”, then change jog modes, and later try to jog to the new position while in world mode – this would produce either no movement (if the position is unreachable) or, possibly, movement to an arbitrary location, because the relative frame is no longer involved.
4.10 Available Tools The Available Tools screen provides the ability to view and set a tool transformation (or off- set). T20 Pendant User's Guide, 10433-000 Rev. E Page 31 of 50