Stupid question: While trying to optimize a pick&place (Conveyor to Fixed Station) in irPickTool, we're trying to get the gripper to land on the part at an angle that minimizes the rotation going from the Pick to the Drop. When we re-teach the Pick position, this seems to work, but if we switch PickTool recipes, then switch back, the pick position is now 180deg off again. It's not the vision, since there's a Conditional Execution Tool that limits the rotation to basically +/- 180. Is there a step I'm missing to ensure the TouchUp gets saved to the PickTool Recipe?
Sanity check: if we pass a part under the vision, let the robot start to grab it off the Conveyor, then stop it and do a TouchUp on the Pick line:
L PR[57:Pk1 Cv Ref Pos] R[20:PK Speed]mm/sec CNT R[24:PK CNT] VOFFSET,VR[1] TB R[125]sec,CALL PKGRCLOSE("Gripper ID"=R[104:Gripper Id G1],"Start Zone"=R[107:Counter G1],"End Zone"=R[106:Gr EndZone G1])
: Offset,PR[20:PICK Z OFFSET] AP_LD50 ;
Are we supposed to answer "Yes" or "No" to the "Subtract VR value" query? I could have sworn the answer was "Yes", but the manual insists "No".