You can use a brute force method instead of an automatic method. Move to the PR in Frame #1, set Frame #2 to the active frame, touch up the PR without moving the robot. Set the active frame back to Frame #1 and repeat for the other PR's. You can create a TP with the PR's and the UFRAME instructions to make it a little easier but will still be manual.
I've done that before and it works. However in this application, I would need to know the PR in UF1 before actually moving the robot there.
Please see here:
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This video is informative but it doesn't address my problem.