I need to manipulate a PR's Z-axis offset in the TOOL coordinates only; on the fly. Is this Possible?

    Hey guys,

    I am programming a Fanuc R2000iA RJ-3iB controller running handling tool. I need to be able to set different Z-offsets for PR's based on values in GI's received from the PLC. I know I can do this with the PR ( i , j ) statement and manipulate an axis offset in the WORLD coordinates, but my fixture is set at an angle that is not parallel with the robot and my program will be taught in the TOOL coordinates. If I set the tool frame at the top of my program will the PR ( i , j ) statement offset the axis ( j ) in the WORLD coordinates or TOOL? Is there a way this could be done?

    Thanks

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