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Figure 3-8. World Mode (Four-Axis Adept 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
center of the tool flange key way.
Chapter 3: Operation
Adept T20 Pendant User's Guide, Rev. A
Page 27 of 50
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