How to activate a coordinated unit?

AlexLu

In jogging mode, I can read joint angles if I choose axis 1-3 or 4-6 motion. However, if I choose Linear or Reorientation, I cannot read the position and orientation data.

The message I got is as following:

"Mechanical Unit is not Calibrated or a Coordinated Unit is not Activated."

The RW version I am using is 5.08.88. I do not have this problem if I use RW 5.07. However, RW 5.08.88 is a must for my force control application with a room fixed sensor.

I am sure that the mechanical unit is calibrated. My question is how to activate a coordinated unit?