[Dibash]

hi, I don't know which robot are you using, but if you are using abb, then the controller gives the position and orientation of the tip. in your case when there is a tool, it will give a tooltip position. I am saying in reference to the abb robot and irc5 controller. if you go to jogging, it will show the value of q1, q2, q3, q4, q5, q6. those values tell-all p[position, the orientation of the tooltip. so if you open the robodk then go to the robot option, ( look like I can not upload figure for your reference) there are places where you can write the value q1 to q6. then you will get the [x, y, z] AND [Z, Y', X'] AS A TOOL FRAME WITH RESPECT TO REFERENCE FRAME. hope this will help you.