# Sending 'movel' commands, how to change from base coordinate system to tool coordinates?

**URL:** <https://forum.universal-robots.com/t/sending-movel-commands-how-to-change-from-base-coordinate-system-to-tool-coordinates/21878>\
**Category:** URScript\
**Created:** [June 9, 2022, 9:28am UTC](https://forum.universal-robots.com/t/sending-movel-commands-how-to-change-from-base-coordinate-system-to-tool-coordinates/21878 "2022-06-09T09:28:15Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![anon17412745](https://avatars.discourse-cdn.com/v4/letter/a/2acd7d/32.png) [@anon17412745](https://forum.universal-robots.com/u/anon17412745)\
**Post date:** [June 9, 2022, 9:28am UTC](https://forum.universal-robots.com/t/sending-movel-commands-how-to-change-from-base-coordinate-system-to-tool-coordinates/21878/1 "2022-06-09T09:28:15Z")

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Hi everyone,

I am sending URScript commands to the robot and all is working fine.

I am currently sending ‘movel’ and ‘speedl’ commands to manually move XYZ, however this is all in the base coordinate system. Is there a way to change it so these commands control the robot in tool coordinate system?

Essentially I want to be able to move relative to the flange, so z is forward, but instead I want movel and speedl move relative to the base so z is up relative to the base.

Cheers  
Chris

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**Author:** ![MikeM](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/mikem/32/3114_2.png) [@MikeM](https://forum.universal-robots.com/u/MikeM)\
**Post date:** [June 9, 2022, 10:37am UTC](https://forum.universal-robots.com/t/sending-movel-commands-how-to-change-from-base-coordinate-system-to-tool-coordinates/21878/2 "2022-06-09T10:37:51Z")

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Try searching “relative moves” in the forum, several topics on this have been discussed, also check out this link [Move wrt to Custom Features](https://www.universal-robots.com/articles/ur/programming/urscript-move-with-respect-to-a-custom-featureframe/)

This should give you a good starting point, hope this helps and best of luck!

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**Author:** ![anon17412745](https://avatars.discourse-cdn.com/v4/letter/a/2acd7d/32.png) [@anon17412745](https://forum.universal-robots.com/u/anon17412745)\
**Post date:** [June 9, 2022, 10:40am UTC](https://forum.universal-robots.com/t/sending-movel-commands-how-to-change-from-base-coordinate-system-to-tool-coordinates/21878/3 "2022-06-09T10:40:05Z")

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That looks perfect, thank you Michael.