# Align (Fix) object surface to Robot Axis 6

**URL:** <https://tech-community.robotics.abb.com/t/align-fix-object-surface-to-robot-axis-6/8943>\
**Category:** RobotStudio\
**Created:** [July 3, 2019, 2:49pm UTC](https://tech-community.robotics.abb.com/t/align-fix-object-surface-to-robot-axis-6/8943 "2019-07-03T14:49:06Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![yu1988](https://avatars.discourse-cdn.com/v4/letter/y/e495f1/32.png) [@yu1988](https://tech-community.robotics.abb.com/u/yu1988)\
**Post date:** [July 3, 2019, 2:49pm UTC](https://tech-community.robotics.abb.com/t/align-fix-object-surface-to-robot-axis-6/8943/1 "2019-07-03T14:49:06Z")

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Hi All,

Does anyone have an idea to fix the surface to the robot axis 6? The yellow highlight.  
I manage to attach it to ROBOT but this is what i struggle here, how to fix position?  
It is look like what we did in solidwork or inventor to do some constraint on the both surface.

 ![image.jpg](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/3/3aaad9b1dfbc3ee6640b417a15becb5b0fa0e34a.jpeg)

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**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\
**Post date:** [July 3, 2019, 8:31pm UTC](https://tech-community.robotics.abb.com/t/align-fix-object-surface-to-robot-axis-6/8943/2 "2019-07-03T20:31:40Z")

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Right click on the tool in the tree on the layout tab, select position-\>set position.

Change the drop down for the reference (frame) to local and then adjust the position using the X\<Y,Z box’s.

You can also place (off the position menu again just a bit further down than set position), or offset position.

Using local reference frame means you do not have to worry about the tool being on an angle to the world frame.

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<div class="post-metadata">

**Author:** ![yu1988](https://avatars.discourse-cdn.com/v4/letter/y/e495f1/32.png) [@yu1988](https://tech-community.robotics.abb.com/u/yu1988)\
**Post date:** [July 4, 2019, 8:53am UTC](https://tech-community.robotics.abb.com/t/align-fix-object-surface-to-robot-axis-6/8943/3 "2019-07-04T08:53:37Z")

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Now the MyTool’s direction is correct, but how can I change its X,Y,Z direction to make it same as Tool0’s X,Y,Z direction.

 ![image.jpg](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/c/ca9b646dcb056a4f8506b2e424119618b09370a8.jpeg)

 ![image.jpg](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/1X/962d4c563ff4aff087c2c0465f3aaccf97dca89d.jpeg)

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<div class="post-metadata">

**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\
**Post date:** [July 4, 2019, 9:02am UTC](https://tech-community.robotics.abb.com/t/align-fix-object-surface-to-robot-axis-6/8943/4 "2019-07-04T09:02:51Z")

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you adjust the TCP position and/or orientation.

Right click MyTool in the tree (while in the paths and targets tree tab as shown above)) and select modify ToolData

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**Author:** ![DenisFR](https://avatars.discourse-cdn.com/v4/letter/d/dc4da7/32.png) [@DenisFR](https://tech-community.robotics.abb.com/u/DenisFR)\
**Post date:** [July 12, 2019, 12:56pm UTC](https://tech-community.robotics.abb.com/t/align-fix-object-surface-to-robot-axis-6/8943/5 "2019-07-12T12:56:10Z")

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Hello,  
When exporting from solidworks, you have to set where is CAD origin (ouput coord system).  
Or in RS, you can set it by right click, modify set origin.