2.4 System Setup2-11 Teaching Positions for CalibrationFor a station with one rotating axis1. Determine an arbitrary point (point P) on the turntable of the station axis. Point Pshould be as far as possible from the turntable rotation center. Align the TCP of themanipulator 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. Itdoes not matter if the rotational direction is positive or negative. Then, align the TCP ofthe 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 ofthe 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 asshown in the figure above, and use this pointed end as an arbitrary point (point P) whenteaching.• When registering C2 and C3, the manipulator tool should keep as much as possible thesame 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.C1Point PC2TurnC3TurnNOTE26/210
