I have wrote up a little manual for doing a base shift on KRC4 with Orange Edit. They are both GMAW robots. If you know of an easier way please feel free to let me know.
Currently the program we are using this for the fixture is not rotating but is going to be moving only a couple of inches in X and Y. When I tested both methods they seemed to have worked. The reason we are having to do this is that it the programs were taught to a NULL base frame. Hopefully this is helpful for someone else.