Display MoreEasy peasy
you can load, alter and write a UFRAME via Position registers. Like:
You only have to keep in mind that adding two PR will keep the CONF of the first summand and therefore 2: PR[99] = PR[98] + PR[97] will be different from 2: PR[99] = PR[97] + PR[98] if they do not have the same CONF.
2: PR[99] = PR[97] + PR[98]
2: PR[99] = PR[98] + PR[97]
Thank you, but I think my question was not clear enough, I need to move the UF 100mm along itself axis, so the new origin in world coordinates will not be current coordinate + 100mm because of the rotations wpr.