# Tool drifting / not moving square in Base frame **URL:** \ **Category:** Technical Questions\ **Tags:** calibration\ **Created:** [January 5, 2019, 2:09pm UTC](https://forum.universal-robots.com/t/tool-drifting-not-moving-square-in-base-frame/3392 "2019-01-05T14:09:48Z")\ **Posts on this page:** 5\ **Page:** 1
**Author:** ![mvrooij](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/mvrooij/32/2151_2.png) [@mvrooij](https://forum.universal-robots.com/u/mvrooij)\ **Post date:** [January 5, 2019, 2:09pm UTC](https://forum.universal-robots.com/t/tool-drifting-not-moving-square-in-base-frame/3392/1 "2019-01-05T14:09:48Z")
Hi, I’m having an odd problem while manually moving the UR5. I place the robot tool flange into a certain position. Then I use a level to make sur the tool is pointing straight down. then I move the tool flange _only_ with move tool X, Y or Z (so only translations) to a desired location, but the tool has also rotated about 2 degrees over the tool Y axis and about 1 degree about the tool X axis. So I need my level again to straighten the tool orientation, but then I have to move again, which leads to the tool being mis aligned again, etc… I checked, but the TCP is all set to 0, so no offsets or rotations in the installation. Why doesn’t the flange keep the orientation when performing only tool translations? What am I missing here? It’s an older model, circa 2012 / 2013, so still relative encoder positions, not absolute. ---
**Author:** ![sko](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/sko/32/573_2.png) [@sko](https://forum.universal-robots.com/u/sko)\ **Post date:** [January 7, 2019, 8:05am UTC](https://forum.universal-robots.com/t/tool-drifting-not-moving-square-in-base-frame/3392/2 "2019-01-07T08:05:44Z")
Did you have set the corresponded Frame to Base in the Move-Tab? If it is still set to View, could explain the deviation in the orientation. ---
**Author:** ![mvrooij](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/mvrooij/32/2151_2.png) [@mvrooij](https://forum.universal-robots.com/u/mvrooij)\ **Post date:** [January 7, 2019, 4:03pm UTC](https://forum.universal-robots.com/t/tool-drifting-not-moving-square-in-base-frame/3392/3 "2019-01-07T16:03:18Z")
Hi, Yes, I’ve made sure I used tool view, not “View” (remember it’s an older CB!). I’ve checked again this morning to be sure, but it’s really there. I reconfirmed that I set all TCP’s to 0 both move and for view. If I set the tool flange parallel to the base (by setting joints at 90 degrees), I already have the same error in tool flange alignment. Could this be a robot calibration problem? What can I do to verify / adjust? ---
**Author:** ![sko](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/sko/32/573_2.png) [@sko](https://forum.universal-robots.com/u/sko)\ **Post date:** [January 11, 2019, 9:31am UTC](https://forum.universal-robots.com/t/tool-drifting-not-moving-square-in-base-frame/3392/4 "2019-01-11T09:31:57Z")
I would indeed recommend re-calibrating the robot and then checking the problem persists. ---
**Author:** ![Savoia](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/savoia/32/4844_2.png) [@Savoia](https://forum.universal-robots.com/u/Savoia)\ **Post date:** [January 27, 2021, 12:40am UTC](https://forum.universal-robots.com/t/tool-drifting-not-moving-square-in-base-frame/3392/5 "2021-01-27T00:40:57Z")
Closed on January 27, 2021, 12:40am UTC