# Problems with Jog Reorient

**URL:** <https://tech-community.robotics.abb.com/t/problems-with-jog-reorient/700>\
**Category:** RobotStudio\
**Created:** [April 13, 2006, 10:35am UTC](https://tech-community.robotics.abb.com/t/problems-with-jog-reorient/700 "2006-04-13T10:35:31Z")\
**Posts on this page:** 2\
**Page:** 1

<div class="post-metadata">

**Author:** ![VolkerZahn](https://avatars.discourse-cdn.com/v4/letter/v/b782af/32.png) [@VolkerZahn](https://tech-community.robotics.abb.com/u/VolkerZahn)\
**Post date:** [April 13, 2006, 10:35am UTC](https://tech-community.robotics.abb.com/t/problems-with-jog-reorient/700/1 "2006-04-13T10:35:31Z")

</div>

Hello,

I’ve recently upgraded to RS 5.07.  
Now I get a problem with reorienting: I create a station with only an IRB1600 and attach a PKI-500. When I try to jog linear, the system is moving in the tool frame of the PKI-500.  
When I try to reorient the tool, the robot is orienting arount the origin of the world system, NOT around the tcp!?

I haven’t had that effect in RS 5.06, so what’s wrong or different?

Regards,  
Volker

---

<div class="post-metadata">

**Author:** ![Fredrik\_Syr](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/fredrik_syr/32/3134_2.png) [@Fredrik\_Syr](https://tech-community.robotics.abb.com/u/Fredrik_Syr)\
**Post date:** [April 13, 2006, 10:44am UTC](https://tech-community.robotics.abb.com/t/problems-with-jog-reorient/700/2 "2006-04-13T10:44:22Z")

</div>

Dear Volker,

The reorientation will be around the reference coordinate system that you specify in the “Freehand Toolbar”. This is default “World”. Change this to “Active Tool”

Kind Regards  
Fredrik