AutoRefMoveMode Property

Applies To
Vision Calibration

Description
Sets or returns modes relating to movement when automatically calculating the calibration reference point.

Usage

VGet  Calibration.AutoRefMoveMode, var
VSet  Calibration.AutoRefMoveMode, value

Calibration

Name of a calibration or string variable containing a calibration name.

var

Integer variable that will contain the value of the property.

value

Integer value or expression for the new value of the property.

Values

• 1 - Tool
  • Vision constant: VISION_AUTOREFMOVEMODE_TOOL
  • Movements in the tool 0 coordinate system.
• 2 - Local
  • Vision constant: VISION_AUTOREFMOVEMODE_LOCAL
  • Movements in the local coordinate system.

Default: 1 - Tool

Remarks
When set to Tool, the robot movements are in the XY plane of the Tool 0 coordinate system when automatically calculating the calibration reference point. The camera should be mounted so that the optical axis is approximately parallel to the Z-axis direction (perpendicular to the 6th joint flange plane) of the tool 0 coordinate system.

When set to Local, the robot movements are in the XY plane of the local coordinate system specified by the RobotLocal property when automatically calculating the calibration reference point. Unlike the Tool, the camera can be mounted at any angle. However, it must be specified in the RobotLocal property so that the XY plane of the local coordinate system is approximately parallel to the image plane of the camera.

See Also
VCal, AutoReference Property, RobotLocal Property