The O element. Visually, not actually, I want to determine the orientation of the tooling as if the suction cups are square and overhead with the part it's picking up. Right now, the blank is coming down the conveyor parallel with the conveyor. If I have a blank come down perpendicular to the conveyor or anywhere in between, I want to adjust my general position or skip it in general depending on how the part comes down the conveyor (cycle time purposes). I use mp2+r2 (r2 = rotation from camera offset) to apply the actual offset of the pick so I'd figure I can use that to determine my needs.
Most of the program is "model" dependent that relies on one general program to do numerous jobs. I can't have a dedicated job for each one either.