So I am working with a ROBOT DENSO SCARA HSR-065A1-N20-RC8A.
There are 3 workplaces with an angle of 80º (from base).
I need that when the robot is on those workplaces and I move the Z axis it follows that angle.
Can't find a way to move the robot based on the WorkPlace Coordinate System that I define. Only XYZ, Joint or Tool