# IRBT2005 track moved by robot TCP

**URL:** <https://tech-community.robotics.abb.com/t/irbt2005-track-moved-by-robot-tcp/10460>\
**Category:** Tutorials\
**Tags:** irbt2005, robotstudio\
**Created:** [November 10, 2021, 12:49pm UTC](https://tech-community.robotics.abb.com/t/irbt2005-track-moved-by-robot-tcp/10460 "2021-11-10T12:49:22Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![alexl123](https://avatars.discourse-cdn.com/v4/letter/a/ee59a6/32.png) [@alexl123](https://tech-community.robotics.abb.com/u/alexl123)\
**Post date:** [November 10, 2021, 12:49pm UTC](https://tech-community.robotics.abb.com/t/irbt2005-track-moved-by-robot-tcp/10460/1 "2021-11-10T12:49:22Z")

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Hello,  
I read the 3HAC021395-001 document regarding coordinated axes and I cant understand how can I coordinate robot TCP with track.What I mean is that when I move the robot TCP, in cartesian system ( along x,y,z), I want at the limit of the robot reachability, the track to move along its X axis.I hope is understandable my problem.What should I change in system parameters so I can do this ?

Thanks

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**Author:** ![lemster68](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lemster68/32/1945_2.png) [@lemster68](https://tech-community.robotics.abb.com/u/lemster68)\
**Post date:** [November 11, 2021, 1:29pm UTC](https://tech-community.robotics.abb.com/t/irbt2005-track-moved-by-robot-tcp/10460/2 "2021-11-11T13:29:16Z")

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It is different when jogging in base than it it is world. Try changing so you can see the difference.