I have used the following command line to move to a point and offset by the information in a PR. I usually use X, Y, and R. On the older robots the offset at the EOAT moves predictably in X, Y, and R.
L P[3] 150mm/sec FINE Offset,PR[1:PROG1_1A_OFFSET]
On my new robots, If I use the X, Y, Z, W, & P in the PR, the EOAT moves predictably in these directions. If I put anything in R in the PR, only J1 moves by this amount. Tech support has given me a complicated multi-line example referencing LPOS and JPOS. Am I missing something here? Why does it operate differently? Why is this so complicated now? I do not have any information entered in any user frame or tool frame.