Unconstrained Z rotation at robtarget

JosephKubalak

I'm currently attempting to generate a tool path in which the Z axis of each robtarget is perpendicular to an object's surface. I'm only concerned with the tool frame matching the Z axis. Unfortunately, when executing auto-configuration, the robot is also trying to match the X and Y axes and the robot ends up winding itself up to the axis move limits. Is there any way to remove the need to also match the X and Y axes? I'm hoping the free rotation about the Z axis will prevent the robot from reaching it's limits.

Thanks!