Maybe someone knows,
this is my script:
set_tcp(p[0,-0,0,0.559,0,0])
movej([-0.166744184,-0.966358560,2.299026545,2.836166684,-1.435,-2.921891183],a=0.157,v=1.5,r=0.02)
movel(p[-0.471010365,-0.042851877,0.037000000,2.31990,-2.11842,0.00000],a=0.1,v=0.167,r=0.002)
how to set frame (custom) coordinate system (for workpiece)?