This is probably a silly question, but I can not find out how to touch up bases in a simple way in the real world. Eg. if the pallet is not flat on the floor, the Y-axis needs to be aligned to the same angle as the pallet. How is this done in practice on Kawasaki? On other brands it is possible to touch-up bases by setting the origo first, then moving the robot to the next point to set the angle of the x-axis and then finally move the tool in the y-direction to set the y-axis angle.