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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!

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?

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].