# Tooldata definition with Z&X orientation

**URL:** <https://tech-community.robotics.abb.com/t/tooldata-definition-with-z-x-orientation/10795>\
**Category:** IRC5\
**Created:** [July 5, 2022, 8:39pm UTC](https://tech-community.robotics.abb.com/t/tooldata-definition-with-z-x-orientation/10795 "2022-07-05T20:39:48Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![Kappa95](https://avatars.discourse-cdn.com/v4/letter/k/839c29/32.png) [@Kappa95](https://tech-community.robotics.abb.com/u/Kappa95)\
**Post date:** [July 5, 2022, 8:39pm UTC](https://tech-community.robotics.abb.com/t/tooldata-definition-with-z-x-orientation/10795/1 "2022-07-05T20:39:48Z")

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Dear community,

I am trying to redefine the TCP from the tech pendant of a tool (from which I don’t have the CAD) and I am trying to defining with the method of Z&X orientation. I took the first 3 points orienting along X axis the world reference frame. I took the 4th point vertical to the world (as my tool) and X and Z alignments (the last two points) directly blocking along X and Z respectively before moving and saving the positions. I tried different times and I get that Y and Z positions of the tool are almost correct (measuring with the caliber) and X with a positioning ranging from -4000mm and 3800mm. What Have I wrong?  
Thank you so much in advance

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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:** [July 6, 2022, 11:58am UTC](https://tech-community.robotics.abb.com/t/tooldata-definition-with-z-x-orientation/10795/2 "2022-07-06T11:58:03Z")

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First, check your calibration offsets and robot zero position. Ensure that the correct robot model has been installed in the system.