ABB OmniCore S Series Operating Manual page 140

6 Programming and testing
6.7.5 Defining the work object coordinate system
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How to define the user frame
This section details how to define the user frame.
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The x axis will go through points X1-X2, and the y axis through Y1.
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1 In the User method drop down menu, select User defined with 3 points.
2 Press the three-position enabling device and jog the robot to the first (X1,
X2 or Y1) point that you want to define.
Large distance between X1 and X2 is preferable for a more precise definition.
3 Select the point in the list.
4 Tap Modify to define the point.
5 Repeat steps 2 to 4 for the remaining points.
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Operating manual - OmniCore
3HAC065036-001 Revision: E