Switch User Frames Safely Without Moving Physical Points

This procedure is use to change user frame number to a section or all of a program points.

You will find a downloadable

PDF version at the end of this page.

• RECOMMENDATION

It’s important to create a backup of your settings before making any significant modifications in your program.

• WARNING!

Make sure to switch the “Convert” to “YES” before applying the modifications.

• DANGER

A bad adjustment could lead to robots or tooling collisions.

STEP BY STEP

1. PRESS –> [ SELECT ]
2. Choose the program you want to make user frame reference changes.
3. PRESS –> [ ENTER ]
4. PRESS –> [ MENU ]
5. SELECT –> [ 1 ] 1 UTILITIES
6. SELECT –> [ 9 ] 9 Frame Offset
7. PRESS –> [ F4 ] [CHOICE]
8. Select the program in which the changes have to be made.
9. PRESS –> [ ENTER ]
10. Using Arrow –> Scroll down to the 2nd line. 
11. PRESS –> [ F4 ] [PART]
12. Using Arrow –> Scroll down to the 3rd line. 
13. ENTER –> The number where the changes should start.
14. PRESS –> [ ENTER ]
15. Using Arrow –> Scroll down to the 5th line. 
16. ENTER –> A new program name (or keep the same one.)
17. PRESS –> [ ENTER ]
18. Using Arrow –> Scroll down to the 6th line. 
19. If you kept the same program name, enter a program line number where the lines with the switched frames will be copied. If you have changed the program name the step before, no “insert line” will be asked.
20. PRESS –> [ ENTER ] (if you have entered an “insert line” number) (see screenshot)
21. Using Arrow –> Scroll down until the next page appear.
22. ENTER –> Old frame number (the frame number on which the points where reference to)
23. PRESS –> [ ENTER ]
24. Using Arrow –> Scroll down to the 2nd line. 
25. ENTER –> New frame number (the frame number on which the points on which you want to reference them to)
26. PRESS –> [ ENTER ]
27. Using Arrow –> Scroll down to the 3rd line. 
28. PRESS –>[ F4 ] YES (points will keep there physical position unchanged but there references will be changed with coordinate according to the new frame)
29. PRESS –> [ F2 ] EXECUTE
30. PRESS –> [ F4 ] YES
31. DELETE –> Lines 4 to 8
32. CHANGE –> UFRAME_NUM from 1 to 0.

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