How to get the tool end to rotate while picking up a part using wrist camera

kfur5e

Hello, 

I have been trying to have the tool end of the UR5e to rotate during the picking operation within the cam locate node. I am currently using a Move L node under the cam locate node ( cam locate and move L uses the same snapshot). It is programed to pick up an object in a specific orientation but when I run the program with the part rotated by 180 degrees the UR5e seems to struggle to pick it up. Instead of just rotating around the tool end, it tries to move multiple joints that result in it reaching joint limits.  

Any solution would be appreciated. 
Thanks

bcastets

Use a moveJ to orient the robot for the pick and then make moveL to go to the object you want to pick.
MoveL does not work well to change orientation of the robot.

kfur5e

Thanks for the response @bcastets. I would essentially be picking up parts from a Rota rack that ends up presenting the parts in an unordered manner and the ur5 seems to be moving multiple joint instead of just rotating the tool end by a certain degree. Do you know if it is possible to teach the a certain part at a specific location ( not at the rota rack) and then somehow use that code at the rota rack which would be at a different location. 

bcastets

It is possible to teach an object with automatique method at one location and detect it a another location.
What matter is that the detection plane is at the same height.

The easiest is probably to teach a model using the DXF method and define the detection plane where you want to make the detection using the calibration board.