LIN $POS_ACT_MES : {CameraX, CameraY, 0, CameraRZ, 0, 0} ; apply camera shifts in Tool frame
This bit of code was what I needed to know. Thank you skyefire. Since the TCP is at XPick when it takes the picture
Moves XPick to the center of the part with my gripper. This works good for my application.
just out of curiosity Is there a way to accomplish this without my TCP being at XPick?