# Problem while defining stationary tool

**URL:** <https://tech-community.robotics.abb.com/t/problem-while-defining-stationary-tool/8566>\
**Category:** RobotStudio\
**Created:** [November 20, 2018, 1:20pm UTC](https://tech-community.robotics.abb.com/t/problem-while-defining-stationary-tool/8566 "2018-11-20T13:20:48Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![jules\_verne82](https://avatars.discourse-cdn.com/v4/letter/j/eb8c5e/32.png) [@jules\_verne82](https://tech-community.robotics.abb.com/u/jules_verne82)\
**Post date:** [November 20, 2018, 1:20pm UTC](https://tech-community.robotics.abb.com/t/problem-while-defining-stationary-tool/8566/1 "2018-11-20T13:20:48Z")

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Hello,

I am trying to define a stationary tool in our workshop. I read manual multiple times, try to define tool but i am not succeded. That’s what i have done so far :

First I define a wobj with robhold=TRUE (wobjR1) and a tool (tStat) with robhold=FALSE. Then i select wobjR1 and tStat in jogging window. After that i select tStat tool and define stationary tip with 4 points. I did this procedure multiple times but results are not ok.

1- Could you please tell me which coordinate frame you select when working with stationary tool (World, base, tool or wobj?)  
2- I will be very appreciated if someone share a .rspag file which have a stationary tool in it.

Best regards.  
Erdem

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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 20, 2018, 2:00pm UTC](https://tech-community.robotics.abb.com/t/problem-while-defining-stationary-tool/8566/2 "2018-11-20T14:00:06Z")

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You need to define a tool with robhold true, use it to teach the stationary tool in world coordinates.