Repère de la grille de calibration

The Cal. Grid Frame is the frame that is taught to the calibration grid.

Robot Held Cal. Grid = NO

If the calibration grid is not held by the robot and the Robot-Held Cal Gridparameter is set to NO, then the calibration grid frame is a USER FRAME. Teach the USER FRAME using the iRVision Utility "Automatic Grid Frame Set", or manually using the Four-Point Method. The image below shows the four points that are required to teach the USER FRAME if you opt to teach the frame manually using the Four-Point Method.

1. Y Direction Point
2. System Origin
3. Orient Origin
4. X Direction Point

Robot Held Cal. Grid = YES

If the calibration grid is held by the robot and the Robot-Held Cal Gridparameter is set to YES, then the calibration grid frame is a TOOL FRAME. Teach the TOOL FRAME using the iRVision Utility "Automatic Grid Frame Set", or manually using the Six-Point Method (XY) or (YZ). The image below shows the six points required to teach the TOOL FRAME if you opt to teach the frame manually using the Six-Point Method.

1. X Direction Point
2. Appr. Points 1, 2, and 3
3. System Origin
4. Y or Z Direction Point

The TOOL FRAME, that is set using the points shown above, creates a TOOL FRAME that is rotated by 90 degrees about the X-axis. After the frame is taught this must be corrected by manually adding 90 to the value of W.