6 axis robot working with 2 differents planes

Hi,

I'm working with a 6 axis robot.
I have worked in XY plane with a pallet and a conveyor ( same plane). It's works like a charm ( tool always parallel to the ground).
But now i have two planes :
- plane 1 : XY -> the pallet
- plane 2 : XZ -> assembling table.
I need to rotate my tool by 90° every time.
I can do this with homing the 5th axis but its time consuming, not elegant and maybe not very accurate
Is there a G code or a trick (lathing?)

Thank you in advance

I finally found the solution.
When i was homing the 6th axis i found very suspicious that axis 'A' was the same value as the homing value.

So i tried : G0A90.0 and G0B90.0

It works!!!!!!!!!!!!!!!

Hey I' will be working on 6 axis robot soon, are you using it for pick and place?

Hi,
We're planning to use multiple synchronized robots to build wood houses.
We need to resolve multiple technical problems ( controller cards, drivers ).
I will give you more info

Wow wood house!!, a real house?, that's kool, I was in the same root as you, but using brick.
Some tips for you, do you know Grasshopper?, they build 3D brick wall which I was going to do but unfortunately I do not know much programing so need to buy the definitions for GH(grasshopper) which I have not yet decided.
I'm currently using Mach3 controller (PMDX 122 brakout board) it worked fine just need to setup the right pin config at "StepConfig" but this board does not support encoder feed back which is really important when comes to closed loop.