Pick point location

The pick point position and orientation can be specified in two ways:

  • Exact values, manually entering the six coordinates for position and orientation. This option is useful when dealing with models taught from CAD, as pick points can be placed with absolute accuracy with respect to the CAD origin.

    Pick point location fields for X, Y, Z in mm and Rx, Ry, Rz in degrees, with the Enable drag handles in 3D viewer checkbox

  • Interactively, by enabling Enable drag handles in 3D view. This will show interactive handles that you can click and drag. You can modify the position or orientation by selecting one of the icons below, which appear on the top-left of the 3D view.

    Pick point drag handles in the 3D view: position drag handles with axis arrows and orientation drag handles with rotation rings, and their toolbar icons

Pick point reference

By default, the pick point location is expressed relative to the object origin. By changing the reference point, it’s posible to set the location as a relative offset with respect to an existing pick point. In the example below, Pick point 2 is expressed using Pick point 1 as reference, hence appears nested inside it.

Pick points list where Pick point 2 is nested under Pick point 1, its reference point, and Pick point 3 is at the top level

Apart from the pick point creation convenience, the reference point plays also a role in simplifying part drop-off. When an object can be picked from multiple pick points, but needs to be dropped-off at the same location, it’s possible to define a single drop-off point in the robot program. Refer to this example to learn more about how to use the point reference in combination with the pick point offset in the robot program.