2.4 System Setup
2-11
Teaching Positions for Calibration
For a station with one rotating axis
1. Determine an arbitrary point (point P) on the turntable of the station axis. Point P
should be as far as possible from the turntable rotation center. Align the TCP of the
manipulator with point P, and register it as C1.
2. Turn the station axis. The amount of turning is not limited but should be 30
or more. It
does not matter if the rotational direction is positive or negative. Then, align the TCP of
the manipulator to point P, and register it as C2.
3. Turn the station axis further in the same direction as in step 2. Then, align the TCP of
the manipulator to point P, and register it as C3.
• To minimize teaching error, attach a tool with a pointed end tool on the station axis as
shown in the figure above, and use this pointed end as an arbitrary point (point P) when
teaching.
• When registering C2 and C3, the manipulator tool should keep as much as possible the
same orientation as when C1 was registered.
• The manipulator at teaching should have its L-axis at a 90
angle to the ground and its U-
axis parallel to the ground.
• Do not teach with the L-axis and U-axis fully extended or tightly contracted. Otherwise,
inaccurate calibration will result.
C1
Point P
C2
Turn
C3
Turn
NOTE
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