4. Coordinate System This chapter describes the coordinate system handled by the robot vision application. 4.1. Name of Coordinate System The robot coordinate system of the Vision Sensor uses the name shown in the table below. 24 Coordinate System Meaning Robot Base Coordinate System Coordinate system with the robot base as the origin Local Coordinate System User-defined coordinate system Flange Coordinate system Coordinate system defined on the flange surface of the robot Tool Coordinate System The coordinate system is defined in the tool center point by offsetting the origin of the flange coordinates system.
Camera Coordinate System With the optical center of the camera as the starting point, the X and Y axes are the horizontal and vertical directions of the image, and the Z axis is the optical axis of the camera.