I need to update my previous post,
in UR i found that we able to use Plane Feature to shift the movement during play,
but if we jog manually to the point, it is still on the original point,
so with this Plane Feature, partially can solve the issue on my previous post,
but we lost the ability to touch-up or reteach some point,
in this example i teach the plane with 4 corner of the glass,
and the glass position shifted up on Z direction for 50mm,
after i updated the plane according to new location of the glass,
during play, it is OK,
but when we manually jog the robot to the position, in order to touch-up some points,
the dispense tool will hit the glass,
which will go to original point that currently 50 mm under the glass on Z direction.
Please Advice...