If needed, we can change the Z+ to have the tool pointing back into the spindle; we can rotate 180 degrees around X+ or Y+ of the tool frame.

Robotmaster V6

To change the Z+ of the tool frame, modifications need to be done in the .ROBX of the Robot and the .XML of the Tooling; below are the steps to follow:

1. When initially creating the tooling, use the Robotmaster convention for the TCP (Z axis pointing outwards from the tooling).

2. Modification in the .ROBX of the Robot:

   1. Specify the axis around which we are rotating the Z+ of the tool frame.
      Line to be modified: <toolAVector rotateAround="" />.
      Possible values: xAxis, yAxis, none.
      Result: the Z+ of the tool is rotated 180 around the specified axis, either X or Y, or remain unchanged if none is used.

3. Modification in the .XML of the Tooling:

   1. Depending on the selected axis around which we did the rotation, the spindle rotation matrix needs to be updated.
      Line to be modified: <SpindleRotation value="Nx, Ny, Nz, Ox, Oy, Oz, Ax, Ay, Az" />
      Modification:  We flip the sign for two remaining vectors in the Spindle Rotation Matrix and keep our axis of rotation sign unmodified.

Robotmaster V7 & Above

1. Open the desired .rmcell that you wish to modify.

2. Click on the Robot model.

3. Show the advanced settings.

4. Tool frame flip, can be set as:

   1. none

   2. xAxis

   3. yAxis

Open

The outcome will look like this:

Open