# How to make the tool coordinate system follow the path coordinate system in a curved path?

**URL:** <https://tech-community.robotics.abb.com/t/how-to-make-the-tool-coordinate-system-follow-the-path-coordinate-system-in-a-curved-path/8075>\
**Category:** RAPID Programming\
**Created:** [February 2, 2018, 9:27am UTC](https://tech-community.robotics.abb.com/t/how-to-make-the-tool-coordinate-system-follow-the-path-coordinate-system-in-a-curved-path/8075 "2018-02-02T09:27:40Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![Robot\_TIG](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/robot_tig/32/435_2.png) [@Robot\_TIG](https://tech-community.robotics.abb.com/u/Robot_TIG)\
**Post date:** [February 2, 2018, 9:27am UTC](https://tech-community.robotics.abb.com/t/how-to-make-the-tool-coordinate-system-follow-the-path-coordinate-system-in-a-curved-path/8075/1 "2018-02-02T09:27:40Z")

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I want to move the tool from A to C via B, ABC is a curve, while keep the tool X axis tangent to the curved path.  
In other words, I want to keep the tool coordinate system same as path coordinate system ( which is changing due to curve shape) at all time.  
Is there any commands can use?

 ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/1X/7a02d2c2280c1668d82059b4539bb23d8bb1b75c.png)