Robot lets you define offsets in 3 coordinate systems: global, local and local - translated. The following image shows the difference among the offset definitions for the 3 coordinate systems.
Captions in the image:
AB - Member in the initial position
A'B' - Shifted member
local x, local z - Axes of the local coordinate system
UZ(A)+ - Positive translation value of point A with respect to the Z axis of the global coordinate system
Uz'(B)- - Negative translation value of point B with respect to the z axis of the local coordinate system associated with the translated member
If an offset is defined in the global coordinate system, components of the member (member section) translation vector AA' and BB' are determined in the global coordinate system.
If an offset is defined in the local coordinate system, components of the translation vector (of the member section) AA' and BB' are determined in the local coordinate system of the translated member.
If an offset is defined in the translated coordinate system, components of the member (member section) translation vector AA' and BB' are determined in the local coordinate system associated with the translated member.