I'm picking parts from a tray these trays will not always be the same. So i was wonder is it possible for the pallet function to allow for an offset. It would only need to be a Z offset as the trays are located in both the X and Y direction. I have the logic to do a normal offset based on a LRT but once I input that into the pallet routine it always goes back to the first position. If something like this isn't possible it is it possible to offset the 4 corner markers with the same logic? The idea would to be to just raise the plane that the tray is sitting on and pick appropriately.