During Cartesian jogging, the directions (X, Y, Z) and rotations (A, B, C) can either be relative to the robot’s currently active user frame or relative to the tool. To switch between these two frames of reference, use the Frame: User/Tool button.
Cartesian jogging is simple to understand when the work offset coordinate system is similar to the robot’s base coordinate system, because X, Y, and Z jogs mimic the behavior of a CNC machine. It can quickly get confusing when the work offset coordinate system involves a rotation. These concepts are explained in this quick tip video.
Note: If you find unexpected behavior when jogging, try reverting to the base coordinate system (no active user frame).
Cartesian jogging is relative to one of two possible frames: the user frame (i.e., work offset coordinates) or the tool frame, determined by the Frame: User/Tool button. When User frame is selected, jogging in Z negative (for example) moves along the Z negative direction of the active user frame. When the tool frame is selected, a Z negative jog moves along the Z negative direction of the active tool frame.