User`s guide

Multiple relative transformations can be chained together. If we define loc_d to have the
value 0, 50, 0, 0, 0, 0:
SET loc_d = TRANS(0,50)
and then issue the following MOVE instruction:
MOVE loc_a:loc_b:loc_d
the robot moves to a position x = -50 mm, y =70 mm, and z = 30 mm relative to loc_a.
In the figure Relative Transformation, the transformation loc_b defines the transformation
needed to get from the local reference frame defined by loc_a to the local reference frame
defined by loc_c.
The transformation needed to go in the opposite direction (from loc_c to loc_a) can be
calculated by:
INVERSE(loc_b)
Thus, the instruction:
MOVE loc_c:INVERSE(loc_b)
effectively moves the robot back to loc_a.
Creating and Altering Location Variables
(Undefined variable: Primary.Product_Name_V)Language User's Guide, version
17.x
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