Tool kinematics control (7th axis on tool).

Hello,

I have a tool with a servo-driven rotational joint on it that goes through a 90deg sweep. The TCP is attached to this joint and offset from the axes of rotation. I’ve already setup the tool in a seperate file with the rotational joint and set the TCP, imported it into the main simulation, and affixed it to the robot arm. Additionally in the Wizard, I selected IO/External Axis. However in the main simulation file I cannot see the additional axis listed. I know I must be missing something basic as I didn’t select any joint to be the external axis however the tutorials online are only for Linear Base Axes not axes on the tool.

The ideal output is a “7th” axis that is driven by angular position directly, and the TCP following it’s rotation/displacement (which it appears it already is). How can I accomplish the 7th axis addition?