There are many different frames that are referred to, and used in, iRVision. It is imperative that users have a clear understanding of them and their roles in setting up a vision process.
1: The World Frame
The World Frame is the "default" or base frame of the robot. It is designated as User Frame 0.
2: The Application Frame
In most iRVision processes, this is a frame that has its Z-axis pointing in the direction of (parallel and centered on) the camera's gaze during camera calibration. This can be any User Frame including the World Frame. For more information on this subject, refer to the iRVision 2D Camera Application OPERATORS MANUAL, section 2.1.1 "Application Frame Setting".
3: The Calibration (Cal.) Grid Frame
This is the frame defined by the location and orientation of the large dot pattern of the calibration grid fixture, as found during the camera calibration process.
4: The Offset Frame/Plane
This is the Tool Frame or User Frame in which the position(s) with vision offset must be taught.
5: The Camera Frame
This frame represents the camera's position and orientation relative to the calibration frame. For more information, refer to the iRVision OPERATOR'S MANUAL (Reference), Setup: 2.1.2.6 'Checking calibration result - [Position of Camera Relative to Cal. Grid]'.