Methods for automated calibration and diagnostics of a workpiece transfer
system are provided. In one embodiment, a method for locating an end
effector includes retrieving a workpiece located at a target location,
passing the workpiece through a plurality of sensors, wherein at least
one of the sensors changes state in response to a position of at least
one of the end effector or workpiece, recording a metric of robot
position associated with the sensor change of state, determining an error
for an expected metric of the end effector position from the recorded
robot position metric and correcting a taught location of the robot for
the target position. In another embodiment, a process for monitoring a
robotic transfer system is provided that includes detecting a first
positional error in a robotic transfer system, and comparing the first
positional error to a second positional error in the robotic transfer
system.
