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Ok I think I can work with that, thanks!

Thanks for the response! I guess I meant more of "I can't find a way to specify what the coordinate frame should be at each point", mostly due to the point components only having XYZ location data. If there's a different method to use, rather than the drilling one, I'm all ears! Other than this slight hiccup, the drilling method has been working fairly well.

The existing point coordinate frames do match the Z axis of the normal vector they're related to, but I would think there should be a way to rotate the XY vectors about the Z axis, which is the best descriptor of what I'm trying to do.

We've got a toolpath set up that mimics the demo program Johannes posted here, which by and large has been working for us. However, I'm running into an issue wherein there doesn't seem to be a way to define the coordinate frame of the tool at the specified point. I've attached a screenshot below of what I mean, but as far as I can tell the program chooses the XYZ vectors of each point automatically, which is causing collisions that shouldn't need to happen. The point components do not have coordinate frames in Grasshopper at least, only XYZ locations, so I'm unclear what I'd need to change. Appreciate any advice!

Oh those would both solve this perfectly, thanks!

We are using a tool that never needs to rotate the A06 Axis, and while it's ok to do for the most part, we have a PTP move command that is only a 20° rotation, yet the robot decides to go 340° in the opposite direction to achieve it. Is there a way to set the limits of the A06 rotation, or disable it entirely?

Thanks very much! That mostly fixed my issues, and I'm gonna try my hand at the rest of them myself before asking any other questions.

I'm new to Kuka|prc and grasshopper, and trying to set up a simulation for a tool which basically touches off on points of a sample. It will be moving linearly in the Z toolhead axis, rather than the assumed X axis of other spindles, and when I ran the program on our robot it did not move similarly to the simulation.

In simulation, it correctly "poked" the sample in Z, but in reality it poked in X. When I try to change that via XYZABC tool parameters in the Custom Tool block, it says I will be colliding with things pretty aggressively.

Is there a parameter I'm missing to change that default X-axis for the tool? I've attached pictures of the orientations, right and wrong, and the XYZABC settings of the custom tools. The geometry for the tool was imported with +Z up, situated at [0,0,0].