SkyeFire, at the beginning I was trying to do the same as you explained. I offset the Reference Position with Pick Offset using the Geometrik Operator:

`FRAME pick_offset={X 100.0000,Y 100.0000,Z 200.0000,A -100.0,B 0.0,C 0.0}`

DECL E6POS XPICKING_POS={X 610.000,Y -1540.00,Z -193.000,A 7.000,B 0.0,C -180.000}

E6POS Xref_pos={X 510.000,Y -1640.00,Z -393.000,A 107.000,B 0.0,C 180.000,S 6,T 50,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}

Xpicking_pos = pick_offset : Xref_pos

And it works fine without rotation angle "A". As I understand, it shifts reference position with the offset in active Base, so I rotate the point according to Base coordinate system and this is not correct. At list this is what I got - my point became in totally different position than it should be. Please, correct me if I am wrong.

Thereby, I have changed the calculations to:

`XPICKING_POS = Xref_pos`

XPICKING_POS.X=XPICKING_POS.X + pick_offset.X

XPICKING_POS.Y=XPICKING_POS.Y + pick_offset.Y

XPICKING_POS.Z=XPICKING_POS.Z + pick_offset.Z

XPICKING_POS.A=XPICKING_POS.A + pick_offset.A

But after that, I got the "A6 axis limit error", as the reference position is taught in positive rotation of A6 and the offset was -100. That is why I came to the calculation of "T" value.

Do you think there is another way of doing this?