what type of waypoint do I need?

MBuca

With our current setup I am picking up round seals off of a conveyor belt. there location is being delivered via camera system. I currently do not use any wrist 3 movement. I want to utilize wrist three movement to open and close a gripper attachment. The robot will go to pick up location, open gripper using a wrist 3 relative waypoint, then it will immediately close. How do I program to open and set wrist 3 position throughout the program regardless of the other joint positions?

matthewd92

Use a variable and get the current joint positions and assign to that variable, you can then change the wrist 3 angle (radians) to be what you want it to be, I.e add 1.57 to current position if you want to rotate it 90 degrees. 

local currentJointPosition = get_actual_joint_positions()
currentJointPositikn[5] = currentJointPosition[5]+1.57

moveJ #Choose variable from the drop down waypoint type and then choose the variable you created.