[lmarkie74]

I have created a Frame 12 from calibration inputs of the our KUKA robot.

I want to rotate this frame on the "Z" axis to be straight up "X" relative to the KR16_L6_2 Base (ELMA) origin.

How can this be calculated or rotated relative to the corresponding KUKA Robot origin.

   

[Alex]

You can change the support of a reference frame to be another reference frame by right clicking it on the tree and selecting "Change Support". 

Then you can move the frame in relation to the supporting frame


Is this what you need to do?