How to Switch User Frames in Your Program Safely

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

Create a backup of your settings before making any changes to your program.

• WARNING!

Make sure to put “NO” in the convert space before applying the modifications.

• DANGER

Robot collisions may occur if this step is not done correctly.

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. [4]
14. PRESS –> [ ENTER ]
15. Using Arrow –> Scroll down to the 4th line. 
16. ENTER –> The number where the changes should end. [8]
17. PRESS –> [ ENTER ]
18. Using Arrow –> Scroll down to the 5th line. 
19. ENTER –> A new program name (or keep the same one.)
20. PRESS –> [ ENTER ]
21. Using Arrow –> Scroll down to the 6th line. 
22. 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. [10]
23. PRESS –> [ ENTER ] (if you have entered an “insert line” number)
24. Using Arrow –> Scroll down until the next page appear.
25. ENTER –> Old frame number (the frame number on which the points where reference to) [1] (for this example)
26. PRESS –> [ ENTER ]
27. Using Arrow –> Scroll down to the 2nd line. 
28. ENTER –> New frame number (the frame number on which the points on which you want to reference them to) [2] (for this example)
29. PRESS –> [ ENTER ]
30. Using Arrow –> Scroll down to the 3rd line. 
31. PRESS –> [ F5 ] NO (Physical positions will be changed. The points coordinates will remain the same but positions will be shifted according to the new frame)
32. PRESS –> [ F2 ] EXECUTE
33. PRESS –> [ F4 ] YES
34. PRESS –> [ EDIT ]
35. Delete lines 4 to 8 –> PRESS [ F5 ] [EDCMD] (press [NEXT] if you don’t see it)
36. CHANGE –> UFRAME_NUM from 1 to 2.

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