Could someone please explain about Body coordinate systems of SimMechanics library in Simulink ?

I'm confusing about three parameters in Position Tab in Body dialog box. As you can see in enclosed image:

• + In blue box, Orgin Position vector[x y z], Is it's value absolute or relative ? If relative, which coordinate system is it relative to ?
• + In yellow box, what does mean of "Translation from orgin of": World, Adjoining, CSs
• + In green box, what does mean of "Components in axes of": World, Adjoining, CSs

I'm confusing what is different between "Translation from orgin of" and "Components in axes of". Please help me. I really appriciate to it ! Sorry about my english.