Vision frame setting - http://www.fanucrobotics.com/products/vision-software/AtoZ.aspx
Vision frame setting function provides a method of training a calibration grid to a user frame using a camera in place of a pointer.
A user tool is not required and the user frame is not taught manually, the frame is taught automatically.
A iRvision package is required for this process.
A standard teach pendant program is included with the iRCalibration VTCP option. The program teaches the frame based on a taught starting position.
The robot moves through various positions. Each position is a calculated offset from the original taught position. At each position it captures an image of the calibration grid.
The robot automatically calculates the user frame and inputs the positional data.