If you have set all values of the tool to 0, then your tool is equal to the flange. With stäubli robots, it is common to set up the tool so that the working direction of the tool is the the Z axis. Then you usually just work with a Z-offset to approach to a workpiece or moving away from it. I made a short video of how the whole thing behaves. The blue arrow is the Z-axis - once from the flange and once from a correct configured tool.... If I select the tool and drive in Z-direction, then you can see that the tool moves only in Z-direction, but the robot has to interpolate all axes accordingly. You would have to tilt your tool 90 degrees and compensate the twist to the flange and adjust the center of the gripper via X and Y. Then you can easily work with tool offsets in your program. Without a correctly configured tool you can not work with the tooloffsets - the result will not be satisfactory.
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