If plane or axis is toggled the standard jogging by x,y,z or rx, ry, rz is also changed.

[DamKoVosh]

When another plane/axis is toggled the standard jogging by x,y,z or rx, ry, rz is also changed. This can resolve in unexprected behaviour.

There is no easy fix for this, since the jogging request is only a twist msg. The driver is not able to know if this is supposed to be projected to a plane or not.

Solutions:

• remove plane toggle at all and use numpad for xy movement only
• use tfs instead of projection planes, which makes the changed behaviour visible to the user.

_Originally posted by @DamKoVosh in https://github.com/PilzDE/pilz_teach/pull/46_

[DamKoVosh]

problem:

• changing tf does not solve the problem for toggle_rotation_axis

another solution:

• pressing single axis movement/rotation could automatically reset plane/rotation axis if a setting for that would be added