If you need to jog the TCP using the current tool number selected, which coordinate system would you use?

• A. TOOL
• B. Joint
• C. Rectangular/Cylindrical
• D. User

Answer: (A)

When you want to move the end-effector in relation to the tool itself, use the tool coordinate system. The TCP (Tool Center Point) is defined in the tool’s own frame, and jog commands interpreted in TOOL coordinates move relative to that tool’s orientation and position. Selecting the current tool number ensures the jog happens in the tool’s frame, so forward, sideways, and vertical motions align with the tool’s directions.

Using joint coordinates would move each robotic joint directly, which isn’t tied to the tool’s orientation. Rectangular/Cylindrical frames refer to base or world frames, not the tool’s pose, and a User frame is a custom frame that may not match the active tool. Therefore, TOOL is the correct choice.