Movable user coordinate system,

abenaki

Hello,

As anybody been able to define and use movable user coordinate system?
Either by itself of along the robot's base frame?
Is there a special way of entering the string that describites the name of the mecanical unit used to move the work object?
Or is there a special way of defining a mechanical unit that is to be used to move a user coordinate system?

Can anyone help me here?

Michel.