Late to the party, but here is a trick i use sometimes. If it is a fixed mounted camera and you do not have space to run the automatic grid (tool) frame set, you can temporarily move/mount the camera in a location that allows you to run the automatic grid (tool) frame set utility. Also, because you are running older software version I think it allows you to put constraints on the amount of x and y movement during the auto grid frame set, new software only allows you to constrain W,P,R and Z.
Some people get confused by this, but keep in mind camera does not need to be calibrated to run automatic grid frame utility. I heard there used to be a utility that would allow you to plug in a usb camera strictly for assigning tool frame for robot held grid, again only heard of it, old man lore back in my day kind of thing.
Also nice to have an extra GigE camera just for setting up tool frames, that way you do not have to worry about moving existing cameras around.