The first point you will record is the orient point. This will be set with gripper 1’s fingers pointing down and on the table. Jog the robot to this location. Check to make sure all 4 grippers are flat on the table with a piece of paper like touching off a tool on a part. Once our orient point is set, press [F2] to record.
The next point is the X Direction point. Record the Z position on the RJH when in Cartesian Position. Jog the robot up in the Z direction so the gripper fingers clear the table when jogging in the X direction. Jog the robot in the X direction and back to the recorded Z position. The fingers should be touching the table, use the piece of paper to set the grippers back on the table. Record the X direction point by pressing [F2].
Jog the robot in the Y direction. Because the robot is mounted at a 30 degree angle, the Y-direction will travel up away from the table. Jog down in the Z direction back to the table and use the piece of paper to touch off the gripper fingers. Record the Y direction point by pressing [F2].