hi,
offsets work like this for mitsu robots
in robot coordinates
Mvs Psomewhere + (x,y,z,A,B,C,L1,L2)
in tool coordinates
Mvs Psomewhere * (x,y,z,A,B,C,L1,L2)
I would consider using user defined areas to decide what path the robot takes when returning to a safe/home position