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.
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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.
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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.