You need to configure the Gravity Alpha or Beta depending on how you position the robot. Otherwise the system does not know where gravity is in relation to the manipulator and gravity will be registered as an external force and you will get collisions and stuff.
Configuration > motion > Robot:
Read more about it in the attached manual.
Not sure if you can adjust the base frame jogging directions, no one ever bothers. Just do workobjekts to be able to jog in the directions you want.
Also make sure the robot you wanna use is ok for the type of mounting you want to use. Most are ok for floor and ceiling but not tilt or wall.
Yes, adjust the baseframe so that it will jog correctly in world. It will reflect well on your job and care to set it up correctly.
Thank you both Gilldur and Lemster.
