Meaning of Tool type for Position Variable

IMOV ignores everything except what it needs: only x y z rx ry rx and tool number matter.

Quote from GregoryAshmore

Looking in the manuals for YRC1000, I haven't been able to find an explanation of the Tool type for a position variable.

I'm using IMOV to execute a relative move along the Z axis of the tool coordinate system.

First try:
Specified P104 as TOOL;
Set all values to 0 except Z, which is -50.0.
Executed this command: IMOV P104 V=500.0
The movement was in Robot coordinates, not Tool coordinates.

Second try:
Everything same as first try, except appended TF to the IMOV command.
IMOV P104 V=500.0 TF
The movement was in Tool coordinates.

Third try:
Same as second try, except specified P104 as ROBOT.
The movement was in Tool coordinates.

Specifying TOOL type made no difference in these tests.

Under what circumstances does TOOL specification make a difference

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When the line is written as IMOV P104 V=500.0 the controller looks into the position variable for direction and amount. The direction will be relative to the Base Frame of the robot.

First try: As I would expect.

When the line is written as IMOV P104 V=500.0 TF the controller stills looks into the position variable for direction and amount. But the line is specifying the the coordinate to use.

Second try: As I would expect.

Third try: As I would expect.

The controller only looks at the Position Variable for direction and amount. It does not care about the format of the variable.

IMOV no coordinate tag, default to Base Frame.

IMOV with coordinate tag, move the direction and amount relative to the Frame format of the tag.