How to Modify the Frame of a Visual Offset

This document explains how to save a visual offset once it is found—and then reuse that offset later in a program by creating an installation variable and a feature point. This avoids having to constantly re-run the Find Visual Offset node.

Create an Installation Variable

• Define a variable that will store the offset value.
  Example: offset_value = p[0,0,0,0,0,0] (representing a 6‑axis pose).

• This variable holds the transformation (offset) calculated by your visual offset routine.

Set Up a Feature Point

• Create a feature point that represents a physical target in your work cell.

• Teach this feature point in the database reference frame (same frame your visual offset tag uses).

• When taught, the feature point location should match where your offset tag is located.

Saving the Offset

• In your program, once the visual offset is located (via “Find Visual Offset”), store its result in the offset_value installation variable.

• The offset from the visual sensor becomes accessible elsewhere through that variable.

• Apply the Offset via Feature Point

  • Use the offset_value with the feature point to create a new “feature_offset” (or similar), which combines the feature point’s location and offset.

  • Wherever you would normally move relative to the visual offset (tag), you can now move relative to feature_offset instead.

• Benefits

  • You don't need to repeatedly run “Find Visual Offset” before every motion that uses that offset.

  • Makes the program more stable, cleaner, and faster — especially useful if the offset is unlikely to change between runs.