Convert points from UFRAME[0], UTOOL[0] to thought UTOOL and UFRAME

    Hi,
    I have a program that I thought without the use of frames.
    Now I would like to implement frames in version 2 of the program. The program will be identical except will use UTOOL & UFRAME.


    I'm hoping that there's a way to somehow use my existing points in space so that I can use them in the 2nd program that will be using frames.


    Thanks,
    Tom

    Fanuc has utilities to do exactly what you're looking to do. MENU>UTILITIES>TOOL OFFSET *OR* FRAME OFFSET
    I'm not sure which controller version first had them but they have been around for quite a while.


    Read up on these in the Fanuc documentation. Tool offset will shift the program relative to a new tool frame and frame offset will shift the program relative to a new user frame. You also have the choice of keeping the robot position where it was before the transform or having the robot follow the new frame. One thing to note is these utilities don't work well with position registers so make sure you program has all programmed points.

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