I am currently setting up my tool frame using the six point(XY) method but when I teach the robot the points my TCP isn't correct. When I rotate the robot in tool mode after the TCP moves around still. I currently am going to my approach point one then recording it. Rotating J6 about 180 in joint mode then going to world mode and moving it to my reference point for approach point 2. For third approach point I am rotating my J4 and J5 in joint mode alittle under 90 degrees, then moving the robot in world to the reference point. For origin I am moving to approach one then moving the robot up in the +Z direction and recording it then moving robot in +X and +Y. This doesn't seem to be working for me though. Could someone help me understand what I am doing wrong or missing?