Robot Calculator is a free utility for robot programmers. It allows you to convert between transformation notations of different robot manufacturers. You can also invert and add transofrmations together.

Syntax for notepad++ is set a of language definition files. It highlights keywords; built in data types and functions; instructions; system variables and constants. Folding rules to condense the program/source file for better orientation are also included.

FANUC frame operations is set of routines that enables you to ADD and INVERT frames from within TP programming language.