HawkME the tools and frames I have defined:
Tool Frame
-165.9 51.9 -27.9 -160.0 30.0 -180.0 t1
-165.9 -51.9 -27.9 160.0 30.0 -180.0 t2
User Frame
419.3 -317.6 -118.1 0.0 0.0 150.5 UFrame1
-363.1 -194.6 -115.7 0.0 0.0 59.4 UFrame2
419.3 -317.6 -118.1 0.0 0.0 150.5 uFrame3
Fabian Munoz tool data comes from a 3D design and I entered the numbers directly, one tcp is at the right side of the robot and the other one is at the left side.
But, if Fanuc works like the other robots out there, even the TCP is not perfect, the robot should move in a straight line when you move it using the frame system...
Thank you all.