2.4 System Setup
2-12
For a station with two rotating axes
1. Determine an arbitrary point (point P) on the turntable. Point P should be as far as
possible from the rotation center of the turntable. With the 1st station axis parallel to
the ground, align the TCP of the manipulator to point P, and register it as C1.
2. Turn the 2nd station axis about 30
. Align the TCP of the manipulator to point P, and
register it as C2.
3. Turn the 2nd station axis again for about 30
. Align the TCP of the manipulator to point
P, and register it as C3.
4. Turn the 1st station axis about 30
. Align the TCP of the manipulator to point P, and
register it as C4.
C1
Point P
C2
Turn
C3
Turn
C4
Turn
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