Change Rz but Rx Ry move

Technical Questions
1

Hi,

I want to ask the fix for the above problem? When I change Rz both Rx and Ry move. When I change Rx, Rz moves. Ry seems to be correct. My robot is an UR5. I also notice that the tool coordinate is upside down compared to a normal working robot (my lab have several robots).

Thank you!

2

To make it more clear, I mean when I change Rz the robot’s Rz actually changes correctly but the numbers on the screen for Rx and Ry change (the number for Rz should change on the screen).