Coordinate System; Name Of Coordinate System - Omron Vision Sensor FH Series Connection Manual

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.
Coordinate System
Robot Base Coordinate
System
Local Coordinate System
Flange Coordinate system
Tool Coordinate System
Camera Coordinate System
Meaning
Coordinate system with the robot base as the
origin
User-defined coordinate system
Coordinate system defined on the flange surface
of the robot
The coordinate system is defined in the tool
center point by offsetting the origin of the
flange coordinates 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.
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