Hello. you can read this instructions in the Inform manual.
The amount of shift for a three-dimensional shift can be obtained by using the MULMAT and INVMAT instructions.
MOVL P010 V=500
GETS PX020 $PX001 --> Stores the current XYZ type value in P020.
INVMAT P021 P010 --> Calculates the inverse matrix of the taught position.
MULMAT P023 P020 P021 ---> The amount of the three-dimensional