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JstewartJstewart Posts: 32 Apprentice
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?

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