Thank you, it definitely helped clear up a few things. My shifts will most likely be done using SFTON as it is closer to what I want. I do have a few more follow up questions with regards to that. If I want to do multiple SFTON commands in a row, am I right in that I have to use a GETS command after the initial SFTON command as the subsequent SFTONs will cancel out the initial one?
For example
SFTON P000 UF#1
MOVL P001
SFTOF
GETS P002 PX001 (Writing in XYZ)
SFTON P003 UF#1
MOVL P002
SFTOF
And my other question is, in a user frame with Z+ going down, is X, Y, Z, Rx, Ry, Rz = 0. parallel to the user frame in the X, Y direction and perpendicular in the Z direction?