Acquire Image Tool Properties The first step of the motion sequence program is to calculate the approach, move, and depart positions: The default program will account for the transform associated with the gripper tip by applying the INVERSE of the offset to the position so the robot will not stop when a TOOL command is executed. After the positions are define, the software will wait for any belt based objects to track into the belt window: ACE Reference Guide, 18317-000 Rev A Page 694