Moving Axis without moving the tool

Username

Hello. 

I'm working on an project for open day of my school, where our ABBs should move some wodden blocks around. For schow reasons I'd need to move the robots axes without changing the position of the tool. 

As I don't know how I could do this, I'm asking if you have any ideas.

soup

Look-up how Tool Center Points (TCP) work.

Username

Thank you for your answer. I know how they work, why?

PerSvensson

It sound like you want to changed the orientation of the tool but keep the position. In that case you should take a look at RelTool where you can change the orientation around x,y,z but keep the position

Username

Thank You.