[Albert]

所有mov RoboDK自动出口ements as targets with respect to their reference frame (or the active reference frame). There are some exceptions such as the default Motoman post processor (which exports targets in joint pulses by default) and the G-code NCP post which applies the reference frame transformation to the target.

You should handle reference frames in the "setFrame" call of the post processor. Most post processors output program code when changing the reference frame, some posts keep the pose of the reference frame and pre-multiply all Cartesian targets by the reference frame pose (such as the Nachi or OTC post processors).