Omron FH Series Construction Manual page 45

Robot Grip
Position (Robot
Grip Pos.)
Robot Approach
Distance (Robot
Approach Dist.)
Robot
Command
Position at
measurement
(Robot
Command Pos.)
This is the reference position of the robot at picking or placing a
workpiece. This is the robot position when the robot gripped the
workpiece located in its reference position. In the case of Pick and
Place, this is the reference position on the robot side to calculate
the relative positional relationship between the workpiece and
the robot.
Robot Grip Position
(Robot Grip Pos.)
Robot Base Position
In measurement, this is an offset distance from the robot
movement position output to robot to a position (robot approach
position) offset to Z-axis direction in the world coordinate
system.
This needs to be set so that the robot hand does not interfere
with a workpiece when picking or placing it.
This is a movement position of the robot that is output to it at
measurement.
This is calculated from workpiece positions measured with the
Vision Sensor and each position registered as the robot operation
reference position.
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Workpiece
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(Origin)
Pick/Place
41
Imaging
(Measurement)