вот контекст (пример): You’ll find the correct sequence of the operations you should do to set properly the base origin (OB) for axes D and E and the correct values for parameters: torch length, robot centerline. With these values you execute a straight cut to set axis D base origin.
или вот еще:
With axes D and E set properly, move the robot to D90 E-180 position and then JOG axis A until the nozzle touches the fix flange. Let Af be the A axis value (will be < 0). Now move the robot to D90 E0 position and JOG axis A until the nozzle touches the mobile flange.