Offset Frame

A 2D vision process measures displacement of a workpiece on a plane. Select a frame to determine the plane from the drop-down box. The plane is defined as a plane parallel to the XY plane of the offset frame.

If you have chosen [Fixed Frame Offset] for [Offset Mode], specify a user frame as the offset frame.
If you have chosen [Tool Offset] for [Offset Mode], specify a user tool.

The Part Z Height in the Reference Data is measured from the Offset Frame. The Part Z Height is the height or thickness of the workpiece if, and only if, the Offset Frame is taught to the surface that the wokrpiece is sitting on.

The following are examples of the offset frame in the case of Fixed Frame Offset.

2D offset on a horizontal plane
2D offset on an inclined plane

If the type of the vision process is [2-D Single-View Vision Process] and selected offset mode is [Fixed Frame Offset], the offset frame can be measured automatically. The offset frame can be set by placing a calibration grid on the plane and finding the grid pattern by vision.
If the offset frame measured automatically is used, when passing the found position and the offset data from the vision program to a vision register, the values of found position and offset data are converted from the values in the frame on the calibration grid to the values in the world frame of the robot to be offset.