# LoadData and ToolData values for q1-q4

**URL:** <https://tech-community.robotics.abb.com/t/loaddata-and-tooldata-values-for-q1-q4/6224>\
**Category:** RobotStudio\
**Created:** [July 11, 2014, 7:35am UTC](https://tech-community.robotics.abb.com/t/loaddata-and-tooldata-values-for-q1-q4/6224 "2014-07-11T07:35:36Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![pacijent](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/pacijent/32/512_2.png) [@pacijent](https://tech-community.robotics.abb.com/u/pacijent)\
**Post date:** [July 11, 2014, 7:35am UTC](https://tech-community.robotics.abb.com/t/loaddata-and-tooldata-values-for-q1-q4/6224/1 "2014-07-11T07:35:36Z")

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Hello to all, from my understanding for definition of X,Y and Z vaules for tooldata and loaddata I’m using tool0 as reference in relation with tool TCP for tooldata and in relation with center of gravity of load for loaddata. Am I mistaking ? Now how do I determine reorientation of tool and load data (q1-q4). My tool and load will rotate during process so robot values for q1-q4 will change. In attachment is usual position of tool and load during production. Please help, thanks in advance.

 ![Tool_with_load.JPG](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/1X/25dcb45d7148103a69d77611cc0f46a69baf9d19.jpeg)