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3.9 Available Frames
The Available Frames screen is used to set the jog mode relative to the selected frame. This is
the only way to enter the "frame" jog mode. When this is done, the jog controls will move the
robot in relation to the selected frame, rather than the World coordinates (robot base).
NOTE: Once you use "Jog Mode" to cycle to another jog mode, you cannot return to "Frame"
mode again without going back to this screen.
To enable jogging based on an available frame:
1. From the Home 2 screen, press Frame (F1). The Available Frames screen opens.
2. Use the arrow keys to select the desired frame.
3. Press the Jog (F2) key to enable jogging along the selected frame.
The system will now jog in "frame" mode (this is displayed as JOG REL: <FrameName>).
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.
Chapter 3: Operation
Figure 3-13. Available Frames Screen
Adept T20 Pendant User's Guide, Rev. A
Page 32 of 50
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