# Trouble with program moving the correct TCP orientation

**URL:** <https://forum.universal-robots.com/t/trouble-with-program-moving-the-correct-tcp-orientation/29555>\
**Category:** Technical Questions\
**Created:** [July 18, 2023, 5:38am UTC](https://forum.universal-robots.com/t/trouble-with-program-moving-the-correct-tcp-orientation/29555 "2023-07-18T05:38:52Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![drakenguyen65](https://avatars.discourse-cdn.com/v4/letter/d/22d042/32.png) [@drakenguyen65](https://forum.universal-robots.com/u/drakenguyen65)\
**Post date:** [July 18, 2023, 5:38am UTC](https://forum.universal-robots.com/t/trouble-with-program-moving-the-correct-tcp-orientation/29555/1 "2023-07-18T05:38:52Z")

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Thank you so much in advance (This is my first UR project so I appreciate your time, patience, and feedback.)

Hello,

I am having trouble making the movement with the correct TCP and feature.  
It seems like I can only get the movement I want manually through the TCP orientation ‘tool’ feature. When I run the program i do not get the same result even though I have selected the correct TCP and feature.

I’ve attached a link which includes:

- Video 1 (manually moving the TCP orientation with the desired movement)

- Photo of correct TCP and feature selected in desired move)

- Video 2 (how the program runs which is not the desired movement)

- link: [UR5e Technical Question - Album on Imgur](https://imgur.com/a/jnBVLIt)

again, thank you for your time.

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**Author:** ![m.hammerton](https://avatars.discourse-cdn.com/v4/letter/m/b2d939/32.png) [@m.hammerton](https://forum.universal-robots.com/u/m.hammerton)\
**Post date:** [July 18, 2023, 7:26am UTC](https://forum.universal-robots.com/t/trouble-with-program-moving-the-correct-tcp-orientation/29555/2 "2023-07-18T07:26:36Z")

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Idealy for this type of application you need to use the Remote TCP option  
See attached link. [UR+ | Remote TCP & Toolpath URCap from Universal Robots](https://www.universal-robots.com/plus/products/universal-robots/remote-tcp-toolpath-urcap/)  
This gives you the ability to rotate around the fixed tool.

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**Author:** ![efn](https://avatars.discourse-cdn.com/v4/letter/e/35a633/32.png) [@efn](https://forum.universal-robots.com/u/efn)\
**Post date:** [July 18, 2023, 7:49am UTC](https://forum.universal-robots.com/t/trouble-with-program-moving-the-correct-tcp-orientation/29555/4 "2023-07-18T07:49:58Z")

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I don’t think using the Tool feature in this case is correct.  
Try using the Base frame and the correct TCP and then rotate around Z-axis of your TCP (your TCP should be the middle of the bottom of the bottle). 🙂

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**Author:** ![drakenguyen65](https://avatars.discourse-cdn.com/v4/letter/d/22d042/32.png) [@drakenguyen65](https://forum.universal-robots.com/u/drakenguyen65)\
**Post date:** [July 18, 2023, 7:51am UTC](https://forum.universal-robots.com/t/trouble-with-program-moving-the-correct-tcp-orientation/29555/5 "2023-07-18T07:51:31Z")

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Will I be able to teach the Remote TCP without the CAD model for the bottle? Seems like I’ll need a model of the bottle in order to generate a Gcode path which unfortunately I do not have.

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**Author:** ![drakenguyen65](https://avatars.discourse-cdn.com/v4/letter/d/22d042/32.png) [@drakenguyen65](https://forum.universal-robots.com/u/drakenguyen65)\
**Post date:** [July 18, 2023, 7:52am UTC](https://forum.universal-robots.com/t/trouble-with-program-moving-the-correct-tcp-orientation/29555/6 "2023-07-18T07:52:42Z")

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Okay sounds good, I’ll try using the base feature when I’m back in the office this morning.

Thank you.