Adept T20 Pendant - Manual (Page 35)

3.10 Available Tools
Figure 3-14. 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.
3.10 Available Tools
The Available Tools screen provides the ability to view and set a tool transformation (or off-
set).
Adept T20 Pendant User's Guide, Rev. C
Page 35 of 56