You can select Program-Teach Targets on Surface to create new targets as you select points on a surface. The targets will be normal to the surface by default. You can also modify the tool orientation by using the settings on the left panel.

Tip: More information available in the getting started section.

Video: https://www.youtube.com/watch?v=ZUja5mZT1KM&index=16&list=PLjiA6TvRACQcNitucNzKjV9_V3UFnSich.

Teach Robot Targets on a Surface