Thank you very much for the tutorial. I notice that you moved the Robot in User mode even though you had a Tool. I have a question about this. It appears that when you rotate/jog using Rx, Ry, Rx in Tool mode, the rotations are different than if you rotate/jog in User mode. I guess this is because in Tool/jog mode, you rotate in the Tool Frames orientation, whereas in User/jog mode you rotate relative to the User Frame. The question is, when I write a TP program, how do I specify what mode I will use to go from one point to another?