Recently I started working on a Fanuc robot system that was created by someone else and was told that it'd been down for quite a while. When trying to create a simple IRVision P&P program I get wild results with the robot completely changing direction when parts are rotated and moving way away from the pickup location. The part location frame is set correctly (I think) and so is the tool frame. When looking in the 4D viewer I see that my world frame and others are quite far away from the robot itself, and seem to move with the robot EOA. When I set the tool to MY calibrated tool the World frame (and others) move to the TCP. Im unsure but this doesn't seem right, but I have no idea why its doing this or how to reset the world (and other) frames to where they should be. Also, when creating NEW frames the 0,0,0,0,0 point is where the world frame should be somewhere between J1 and J2 (for fanuc LR Mate). Attached are pictures of this issue in the 4D viewer.
