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Palletizer for AUBO Robots - Installation Manual
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Ver. 1.7
Method 3: xOxy
The xOxy method uses the origin of the pallet coordinate system, a point along the X-axis and a
point in the positive quadrant of the XY-plane. Teach the 3 points, as depicted on figure 27, by
moving the center of the robot flange to each corner and clicking the teach button for that corner.
Alternatively, the 3-dimensional vectors from the robot base to the corners can be measured and
typed in manually.
Figure 27: xOxy calibration method