Offset Mode

Select the robot position offset mode from the drop-down box.

[Fixed Frame Offset]
The fixed frame offset data will be calculated.
With fixed frame offset, the workpiece offset is measured in a coordinate frame fixed with respect to the robot base. A workpiece placed on a fixed surface or a container is viewed by a camera, and the vision system measures its position. The robot then adjusts its taught positions so that it can manipulate (pick up, for example) the workpiece properly.
Fixed Frame Offset
[Tool Offset]
The tool offset data will be calculated.
With tool offset, the workpiece offset is measured in a coordinate frame that moves with the robot tool. This method is useful for grippers where the part position in the gripper can vary, such as vacuum grippers. A workpiece held by the robot is viewed by a camera, and the vision system measures its position relative to the gripper. The robot then offsets its taught positions so that it can manipulate (place, for example) the workpiece properly.
Tool Offset
[Found Position]
The found position will be output as is, instead of the offset data. This option is provided for any required special offset mode. Do not select it under normal conditions.
[Gaze Line]
The gaze line will be output as is, instead of the offset data. This option is provided for any required special offset mode. Do not select it under normal conditions.