It depends on what the user wants. Programs were written in world frame does user want them to stay in world frame? move the programs using the the program adjust.
Does user want to inject more user frames into the programming? Move the programs into another frame I guess.
Personally getting into more frames when everything is so simple by using world frame doesn't make sense especially when that said user is here asking for help.
Keeping everything very simple and as it is would be the easiest solution. Moving the programs by 1 inch is the easiest solution.
using more frames would make sense if there's more than one fixture in the cell. Today it's the robot stand that's moving, but tomorrow it could be one of the fixtures. If the fixtures don't move relative to each other, no amount of program adjust will fix it.
If it were me, I'd take the time to go through and add all the frames just because I'd hate to have to go through this program adjust junk every time the smallest thing changed. With user frames, it's just touch-touch-touch and you're done.
The user is looking for an easy way to move the program that is why I suggested program adjust. Taking the time to put everything in frames might as well start ll over and restructure the programs to make it easier to recover from problems like this. He already stated that position registers were not utilized so all of his programs are local and not global. Regardless of what the user does there will be some touch involved. I've used program adjust many times its easy and its quick and it's not junk it serves its purpose. Program shift works also but takes longer and uses the same concept has "touch touch touch and you're done" but no frames involved. I had the same problem not long ago. I ended up complete rewrite because the program structure did not use position registers and tool offsets to load and unload parts. Instead of having 5 points going in and 5 points coming out there is one point the drop and pickup, everything else is offset from there, but now we inject more complexity. Touchups are fast as there is only one point to touchup. CJA what does your robot actually do ?
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