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Tiels don't hang upside down as much as some other species so they aren't as skilled and strong at it. In order to do it they need a perch where they can get a really good grip. A wooden dowel perch won't do the job, but rope perches and some natural-branch perches will. Cage bars can work too, as you've discovered.
When you see your bird hanging off the top of the cage, give him a lot of attention as a reward. A food treat too, if you can get hold of one really fast (like within two seconds). This will encourage him to do it more, especially when he wants some attention.
When he's standing on something that provides a good grip, you can encourage him to lean over by holding a food treat down low. Start out at a fairly small angle then work on going lower. You may or may not be able to get him all the way down this way, but at least he'll become more comfortable with putting his head down.
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