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Figure 3-9. Tool Mode (Four-Axis Adept Cobra Robot Shown)
NOTE: The above drawing assumes that the tool transformation is set to null (all
values are 0). If a tool transformation is in effect, the tool coordinate system will be
offset and rotated by the value of the tool transformation. Any motion in Tool mode
will now be relative to the offset coordinate system, and not the center of the tool
flange.
To position the robot while in Tool mode:
1. Press the Jog Mode button until Tool 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. In a four-
axis robot, positive rotation of the gripper (RZ) is clockwise as viewed from above.
Free Mode
When Free mode is selected, the motor torque will be zeroed and the brake (if any) for the
selected joint will be released. You can make multiple selections with the Joint/Axis control but-
tons to release as many joints as required.
To select Free mode, press the Jog Mode button until Free is displayed in the Jog Mode indi-
cator. As soon as another jog control mode is selected, all joints are returned to servo control
and will not move freely.
On some robots, Free mode is disabled for some of the joints.
Chapter 3: Operation
Adept T20 Pendant User's Guide, Rev. A
Page 28 of 50
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