why is tool orientation different from flange system when toolABC are all 0?

[harper]

Hi there!
This problem has confused me for a long time. When the ToolABC are all 0, I suppose the XYZaxis of tcp should be the same as the flange system according to the difinition of TOOL cordinate system. But as the image shows, it's the same as rhino XYZ axis.

[Johannes @ Robots in Architecture]

Hello,

You can switch the tool axis to Z in the settings if it annoys you. In general, using the X-axis makes the XY planes in GH easier to use.

But I understand that it's not an ideal solution in either way.

Best,
Johannes

[sglab]

Hello,

I believe we might be encountering a similar issue. The custom tool is positioned correctly on the Kuka in the simulation but with an incorrect axis at the tip/end. The custom tool was built in the correct orientation from videos and tutorials I've seen. Any thoughts on where the issue might be coming from?

[Johannes @ Robots in Architecture]

Hello,
So the Rhino world coordinate system is always considered to be the flange, therefore the position of your custom tool on the flange is correct.
If you want to use the Z-axis as the tool axis, you can enable that in the settings!
Best,
Johannes