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.
- [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.