Controlling a rotation of an axis.

Hello,

I'm quite new to RobotStudio, so perhaps someone could point me in the right direction. (or perhaps link a topic where this has been answered, couldn't find one myself)

The idea is that I want to drill straight holes into a timber frame. I made a simple path to the target and a vertical path down from that location. And what I want to add now, is that after it has reached the target, I need to add a rotation to the 6th axis, while it keeps moving down along the path. How can I do this?

Any help would be much appreciated,

Thanks,
Puru

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