Philippe_Levesque
Hi, you need to use the external tcp feature, with this the robot will keep his orientation and his speed even when it rotate around an axis.
This is the link towards universal robot who explain it and you can also download le urcap at the bottom of the page.
Stay tuned on our new feature release that are coming in few week.
https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/remote-tcp-example-sheet-metal-deburring-54588/
Regards
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If you have questions about Robotiq products please reach our support team.
I am creating a liquid dispensing project using a UR5 and in Robodk i am having a difficult time trying to offset the TCP so the angle of the tool is facing inwards when it goes around the path due to features on the part that will interfere with the tool. i cannot post images due to company policy, but imagine that you had a box with 4 sides and i needed the tool to be angled in towards the center of box around the entire path. i am able to offset it but then when it comes around to the opposed side its leaning the wrong way. Any ideas?