Creating and Altering Location Variables In the figure Relative Transformation, the transformation loc_b defines the transformation needed to get from the local reference frame defined by loc_a to the local reference frame defined by loc_c. The transformation needed to go in the opposite direction (from loc_c to loc_a) can be calculated by: INVERSE(loc_b) Thus, the instruction: MOVE loc_c:INVERSE(loc_b) effectively moves the robot back to loc_a. eV+Language User's Guide, v2.x, 18318-000 Rev A Page 111