Is the company's maintenance taking too long to save points in the schedule? But are you able to save it more easily? To save the points it is essential to create a TCP plus coordinate system, especially if the machines are not in level with the robot. See the example below: While the robot is manipulating, the deposit and handle position of this machine is angularly different from the robot's coordinate system, for example, when i have to move only the tool forward, due to the problem reported above i have to move the robot in X and Y making a "step ladder", this type of movement is very difficult when fine adjustments are needed. Remembering that the robot works on the right hand rule. After the creation of a TCP plus coordinate system for the tool, the adjustments became easier, since the robot's movement will be in relation to this created system. To move the robot forward in the new case, it would use only the Cartesian X axis. There are several items that m