[00] - Transformation Values Operators

In the AS system, operators + and - are used to determine the compound transformation values (the XYZOAT values). However note that unlike the usual addition or subtraction, the commutative law does not hold true with the transformation operation. Arithmetic expression “a + b” and “b + a” will result the same, but “pose a + pose b” will not necessarily equal “pose b + pose a”. This is because in transformation operations, the values of the axes are taken into consideration. An example of this is shown below: 

a1 = (1000, 0, 0, 0, 0, 0)
a2 = (0, 1000, 0, 60, 0, 0)

This is how to account for the different coordinate frames!

Offsets at the beginning of a line [ LMOVE offset + pose ] will be applied before any pose, starting from base coordinates

Offsets at the end of a line [ LMOVE pose + offset ] will be applied after any pose. This takes into account any rotation that the tool may currently have. Effectively offsetting the tool in Tool coordinates, rather than Base.