# bind tcp to an external rotary axis

**URL:** <https://tech-community.robotics.abb.com/t/bind-tcp-to-an-external-rotary-axis/11359>\
**Category:** RAPID Programming\
**Created:** [February 20, 2024, 7:00am UTC](https://tech-community.robotics.abb.com/t/bind-tcp-to-an-external-rotary-axis/11359 "2024-02-20T07:00:54Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![Tussi8590](https://avatars.discourse-cdn.com/v4/letter/t/85f322/32.png) [@Tussi8590](https://tech-community.robotics.abb.com/u/Tussi8590)\
**Post date:** [February 20, 2024, 7:00am UTC](https://tech-community.robotics.abb.com/t/bind-tcp-to-an-external-rotary-axis/11359/1 "2024-02-20T07:00:54Z")

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I’m programming an ABB IRB6700 robot with 7 axes that needs to pour aluminum into a shell.

Axis 7 of the robot is a rotary type and moves that cup( And it’s on the robot).

I am looking for an instruction or functions that allow me to make a movement similar to the RelTool. That way I could place my tool in the tip of the cup and move it as it rotates.

I don’t know if I have explained myself correctly…

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**Author:** ![mandolas](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/mandolas/32/2496_2.png) [@mandolas](https://tech-community.robotics.abb.com/u/mandolas)\
**Post date:** [February 20, 2024, 4:06pm UTC](https://tech-community.robotics.abb.com/t/bind-tcp-to-an-external-rotary-axis/11359/2 "2024-02-20T16:06:41Z")

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Hi…  
If I understand, you could use a stationary tool so you could use RelTool with this tool.  
Take a look at this tip:

> **[ABB Robotics Community - Maintenance](https://forums.robotstudio.com/discussion/311/stationary-tool-wobj-setting)**

Good work.