3.5 System Setup
3-9
Teaching Position for Calibration
Calibrate the control point for two manipulators at three arbitrary points (C1 to C3) in the
space between the manipulators.
1. Move a manipulator to an arbitrary position. Align the tool center point of the other
manipulator or to the tool center point of the first manipulator by handling the axis.
Register it as C1.
2. Register C2 and C3 in the same manner as C1.
• When registering C2 and C3, the manipulator tool should keep as much as possible the
same orientation as when C1 was registered.
• The standard distance between C-1and C-2, C2 and C3, and C3 and C1 should be 1 m or
more.
• Teach C1, C2, and C3 so that a triangle, not a straight line, is formed.
• Do not teach with the LU axis fully extended or tightly contracted. Otherwise, inaccurate
calibration will result.
C1
C2
C3
NOTE
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