{"id":132488,"date":"2025-11-19T10:57:26","date_gmt":"2025-11-19T02:57:26","guid":{"rendered":"https:\/\/www.tm-robot.com\/?post_type=docs&#038;p=132488"},"modified":"2026-01-22T14:34:18","modified_gmt":"2026-01-22T06:34:18","slug":"intelligent-cloning-workflow","status":"publish","type":"docs","link":"https:\/\/www.tm-robot.com.cn\/zh-hant\/docs\/intelligent-cloning-workflow\/","title":{"rendered":"Intelligent Cloning Workflow"},"content":{"rendered":"<p>TMflow Software version: 2 Series<\/p>\n<p>TM Robot Hardware version: All Robot with EIH Camera<\/p>\n<p>Jig: \u8a2d\u8a08\u80fd\u5b89\u88dd\u5728 FOUP \u516c\u5dee\u70ba \u00b10.05mm\uff0c\u4e14\u53ef\u9ecf\u8cbc LM \u7684\u6cbb\u5177<\/p>\n<hr \/>\n<h1>Background<\/h1>\n<p>\u5728 Robot + AMR \u7684\u6574\u5408\u61c9\u7528\u5834\u57df\u4e2d\uff0c\u7cfb\u7d71\u6574\u5408\u5546 (SI) \u901a\u5e38\u6703\u5229\u7528 E-Rack \u4e0a\u5404\u69fd\u4f4d\u8cbc\u9644\u7684 Landmark (LM) \u4f86\u5efa\u7acb LM Base\uff0c\u63a5\u8457\u4f7f\u7528\u8a72 LM Base \u70ba\u57fa\u6e96\u6559\u5c0e FOUP \u7684\u53d6\u653e\u9ede (Pick &amp; Place Points)\u3002<\/p>\n<p>\u7406\u60f3\u4e0a\uff0c\u53ea\u8981\u5b8c\u6210\u4e00\u6b21\u6559\u5c0e\uff0c\u540c\u4e00\u7d44 LM Base \u61c9\u53ef\u5957\u7528\u81f3\u6240\u6709\u69fd\u4f4d\u3002\u7136\u800c\uff0c\u5be6\u969b\u904b\u884c\u6642\u6703\u53d7\u5230\u4ee5\u4e0b\u56e0\u7d20\u5f71\u97ff\uff1a<\/p>\n<p><strong>A.<\/strong> Robot \u5728\u4e0d\u540c\u59ff\u614b\u4e0b\u9032\u884c\u5361\u5f0f\u5ea7\u6a19\u79fb\u52d5\u6642\uff0c\u53ef\u80fd\u7522\u751f\u975e\u7dda\u6027\u8aa4\u5dee\u3002<\/p>\n<p><strong>B.<\/strong> \u5404\u69fd\u4f4d\u4e0a LM \u7684\u8cbc\u9644\u4f4d\u7f6e\u6216\u89d2\u5ea6\u4e0d\u4e00\u81f4\uff0c\u4e5f\u6703\u5c0e\u81f4\u53d6\u653e\u8aa4\u5dee\u3002<\/p>\n<p>\u9019\u4e9b\u8aa4\u5dee\u53ef\u80fd\u4f7f Robot \u5728\u79fb\u52d5\u81f3\u53d6\u653e\u9ede\u6642\uff0c\u5be6\u969b\u7269\u7406\u4f4d\u7f6e\u51fa\u73fe\u504f\u5dee\uff0c\u9032\u800c\u9020\u6210\u6a5f\u69cb\u5e72\u6d89\u3002<\/p>\n<p>\u76ee\u524d\u591a\u6578\u7cfb\u7d71\u6574\u5408\u5546\u4ecd\u63a1\u7528\u91dd\u5c0d\u6bcf\u500b\u69fd\u4f4d\u9010\u4e00\u624b\u52d5\u5fae\u8abf (Offset) \u7684\u65b9\u5f0f\u4fee\u6b63\uff0c\u904e\u7a0b\u8cbb\u6642\u4e14\u4eba \u5de5\u4f5c\u696d\u91cf\u9ad8\uff0c\u6975\u9700\u66f4\u6709\u6548\u7387\u7684\u89e3\u6c7a\u65b9\u6848\u3002<\/p>\n<figure id=\"attachment_132489\" aria-describedby=\"caption-attachment-132489\" style=\"width: 1137px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/\u8985\u7d661.png\"><img loading=\"lazy\" class=\"wp-image-132489 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/\u8985\u7d661.png\" alt=\"\" width=\"1137\" height=\"550\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/\u8985\u7d661.png 1137w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/\u8985\u7d661-300x145.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/\u8985\u7d661-1024x495.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/\u8985\u7d661-768x372.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/\u8985\u7d661-360x174.png 360w\" sizes=\"(max-width: 1137px) 100vw, 1137px\" \/><\/a><figcaption id=\"caption-attachment-132489\" class=\"wp-caption-text\">Figure 1 : Typical Approach<\/figcaption><\/figure>\n<h1>Introduction &amp; Value<\/h1>\n<p>\u672c\u65b9\u6cd5\u53ef\u6709\u6548\u6539\u5584 <strong>B.<\/strong><strong>\u56e0\u69fd\u4f4d\u4e0a<\/strong><strong> LM <\/strong><strong>\u8cbc\u9644\u4e0d\u4e00\u81f4<\/strong><strong>\u6240\u5c0e\u81f4\u7684\u53d6\u653e\u8aa4\u5dee\u554f\u984c\u3002<\/strong>\u900f\u904e\u6b64\u65b9\u6cd5\uff0cRobot \u5728\u76f8\u8fd1\u59ff\u614b\u4e0b\u57f7\u884c\u5404\u69fd\u4f4d\u7684\u53d6\u653e\u52d5\u4f5c\u6642\uff0c\u7121\u9700\u518d\u9010\u4e00\u9032\u884c\u5fae\u8abf\uff0c\u5373\u53ef\u7dad\u6301\u7a69\u5b9a\u7684\u53d6\u653e\u9ede\uff0c<strong>\u5c07\u53d6\u653e\u9ede\u8aa4\u5dee\u63a7\u5236\u5728<\/strong> <strong>\u00b11mm <\/strong><strong>\u4ee5\u5167<\/strong>\uff0c\u4e26\u7701\u4e0b\u5927\u91cf\u7684\u5de5\u4f5c\u6642\u9593\u3002<\/p>\n<p>\u4ee5\u4e0b\u5217\u60c5\u6cc1\u70ba\u4f8b\uff1a<br \/>\n\u5047\u8a2d\u73fe\u5834\u5171\u6709 100 \u500b\u69fd\u4f4d\uff0c\u50b3\u7d71\u65b9\u5f0f\u9700\u91dd\u5c0d\u6bcf\u500b\u69fd\u4f4d\u9032\u884c\u4e00\u6b21\u6559\u5c0e\u8207\u5fae\u8abf\uff0c\u6bcf\u69fd\u4f4d\u7d04\u8017\u6642 10 \u5206\u9418\uff0c\u7e3d\u8a08\u9700 100 \u00d7 10 = 1,000 \u5206\u9418\u3002<\/p>\n<p>\u63a1\u7528\u6b64\u65b0\u65b9\u6cd5\u5f8c\uff0c\u53ea\u9700\uff1a<\/p>\n<ul>\n<li>\u521d\u6b21\u6559\u5c0e\u53d6\u653e\u9ede\u7d04 10 \u5206\u9418\uff1b<\/li>\n<li>\u5176\u9918\u5404\u69fd\u4f4d\u50c5\u9700 1 \u5206\u9418 \u57f7\u884c\u8996\u89ba\u4efb\u52d9\u5efa\u7acb\u95dc\u4fc2\u3002<\/li>\n<\/ul>\n<p>\u6574\u9ad4\u50c5\u9700 10 + (1 \u00d7 100) = 110 \u5206\u9418\uff0c\u5373\u53ef\u5b8c\u6210\u6240\u6709\u69fd\u4f4d\u7684\u53d6\u653e\u9ede\u5efa\u7acb\uff0c\u76f8\u8f03\u50b3\u7d71\u6d41\u7a0b\u7bc0\u7701\u8fd1 90% \u7684\u6642\u9593\u6210\u672c\uff0c\u540c\u6642\u964d\u4f4e\u4eba\u70ba\u8aa4\u5dee\u767c\u751f\u6a5f\u7387\u3002<\/p>\n<h1>Preparation<\/h1>\n<p>TMflow Software version: 2 Series<\/p>\n<p>TM Robot Hardware version: All Robot with EIH Camera<\/p>\n<p>Jig: \u8a2d\u8a08\u80fd\u5b89\u88dd\u5728 FOUP \u516c\u5dee\u70ba \u00b10.05mm\uff0c\u4e14\u53ef\u9ecf\u8cbc LM \u7684\u6cbb\u5177\u3002<\/p>\n<figure id=\"attachment_132495\" aria-describedby=\"caption-attachment-132495\" style=\"width: 1138px\" class=\"wp-caption aligncenter\"><img loading=\"lazy\" class=\"wp-image-132495 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-2-jig-design.png\" alt=\"\" width=\"1138\" height=\"331\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-2-jig-design.png 1138w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-2-jig-design-300x87.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-2-jig-design-1024x298.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-2-jig-design-768x223.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-2-jig-design-360x105.png 360w\" sizes=\"(max-width: 1138px) 100vw, 1138px\" \/><figcaption id=\"caption-attachment-132495\" class=\"wp-caption-text\">Figure 2 : Jig Design<\/figcaption><\/figure>\n<h1>Optimization Method &amp; Process<\/h1>\n<ul>\n<li>\u9996\u5148\u900f\u904e\u6559\u5c0e\u5efa\u7acb\u5728 TM LM Base (Jig) \u4e0a\u7684\u53d6\u653e\u9ede\uff0c\u53d6\u653e\u9ede\u5c31\u53ef\u4ee5\u8ddf\u8457 Jig \u4e00\u8d77\u5e36\u8457\u8d70\u5230\u4e0b\u4e00\u500b\u69fd\u4f4d\uff0c\u800c\u4e0d\u9700\u8981\u91cd\u65b0\u6559\u5c0e\u3002<\/li>\n<\/ul>\n<figure id=\"attachment_132501\" aria-describedby=\"caption-attachment-132501\" style=\"width: 1080px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-3.png\"><img loading=\"lazy\" class=\"wp-image-132501 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-3.png\" alt=\"\" width=\"1080\" height=\"618\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-3.png 1080w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-3-300x172.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-3-1024x586.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-3-768x439.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-3-360x206.png 360w\" sizes=\"(max-width: 1080px) 100vw, 1080px\" \/><\/a><figcaption id=\"caption-attachment-132501\" class=\"wp-caption-text\">Figure 3 : P&amp;P \u6559\u9ede\u5728 LM Base (Jig) \u4e0a<\/figcaption><\/figure>\n<ul>\n<li>\u63a5\u8457\u5efa\u7acb\u5404 TM LM Base (Slot) \u8207 TM LM Base (Jig) \u7684\u95dc\u4fc2\u3002<\/li>\n<\/ul>\n<figure id=\"attachment_132507\" aria-describedby=\"caption-attachment-132507\" style=\"width: 1080px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-4.png\"><img loading=\"lazy\" class=\"wp-image-132507 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-4.png\" alt=\"\" width=\"1080\" height=\"490\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-4.png 1080w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-4-300x136.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-4-1024x465.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-4-768x348.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-4-360x163.png 360w\" sizes=\"(max-width: 1080px) 100vw, 1080px\" \/><\/a><figcaption id=\"caption-attachment-132507\" class=\"wp-caption-text\">Figure 4: \u5efa\u7acb\u5404\u69fd\u4f4dLM \u8207 Jig LM \u7684\u95dc\u4fc2<\/figcaption><\/figure>\n<ul>\n<li>\u5be6\u969b\u904b\u884c\u4e0d\u9700\u8981\u6cbb\u5177\uff0cRobot \u57f7\u884c TM LM Base (Slot) Vision Job \u4e4b\u5f8c\uff0c\u53d6\u653e\u9ede\u7684\u5ea7\u6a19\u7cfb\u6703\u900f\u904eTM LM Base (Slot) \u4ee5\u53ca\u95dc\u4fc2\u5f0f Trans \u63db\u7b97\u5f97\u51fa\uff0c\u56e0\u6b64\u4e0d\u9700\u8981\u6cbb\u5177\u4e0a\u7684 LM\u3002<\/li>\n<\/ul>\n<figure id=\"attachment_132513\" aria-describedby=\"caption-attachment-132513\" style=\"width: 1080px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-5.png\"><img loading=\"lazy\" class=\"wp-image-132513 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-5.png\" alt=\"\" width=\"1080\" height=\"557\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-5.png 1080w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-5-300x155.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-5-1024x528.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-5-768x396.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-5-360x186.png 360w\" sizes=\"(max-width: 1080px) 100vw, 1080px\" \/><\/a><figcaption id=\"caption-attachment-132513\" class=\"wp-caption-text\">Figure 5: \u5957\u7528\u95dc\u4fc2\u5f0f\u8a08\u7b97\u865b\u64ec LM Base (Jig)<\/figcaption><\/figure>\n<p>\u4ee5\u4e0b\u4ee5\u591a\u5c64 E-Rack\uff08Slot 1~Slot 6\uff09\u70ba\u4f8b\uff0c\u8aaa\u660e\u5982\u4f55\u4f7f\u7528\u6b64\u65b9\u6cd5\u5efa\u7acb Landmark \u4e4b\u9593\u7684\u5c0d\u61c9\u95dc\u4fc2\uff0c\u4e26\u5b8c\u6210\u5404\u69fd\u4f4d\u7684\u53d6\u653e\u52d5\u4f5c\u3002<\/p>\n<figure id=\"attachment_132519\" aria-describedby=\"caption-attachment-132519\" style=\"width: 761px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-6.png\"><img loading=\"lazy\" class=\"size-full wp-image-132519\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-6.png\" alt=\"\" width=\"761\" height=\"961\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-6.png 761w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-6-238x300.png 238w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-6-360x455.png 360w\" sizes=\"(max-width: 761px) 100vw, 761px\" \/><\/a><figcaption id=\"caption-attachment-132519\" class=\"wp-caption-text\">Figure 6 : E-Rack<\/figcaption><\/figure>\n<h2>\u7cfb\u7d71\u67b6\u69cb<\/h2>\n<p>\u5982\u4e0a\u5716\u6240\u793a\uff0c\u4e00\u500b\u6709\u4e0a\/\u4e2d\/\u4e0b\u5c64\u7684Rack\uff0c\u5305\u542b\uff1a<\/p>\n<ul>\n<li>FOUP Base * 6<\/li>\n<li>TM Landmark * 6<\/li>\n<li>FOUP\uff08Front Opening Unified Pod\uff09<\/li>\n<li>Jig\uff08With Landmark\uff09<\/li>\n<\/ul>\n<p>Robot \u900f\u904e\u5404\u5c64\u7684 Slot Landmark \u8207 Jig Landmark\u5efa\u7acb\u76f8\u5c0d\u95dc\u4fc2\uff0c\u7d71\u4e00\u57fa\u6e96\u9032\u884c\u53d6\u653e\u52d5\u4f5c\u3002<\/p>\n<hr \/>\n<h2>\u6559\u5c0e\u6d41\u7a0b<\/h2>\n<ol>\n<li>\u5f9e\u4efb\u4e00\u5c64\u958b\u59cb\uff0c\u4f8b\u5982\u5f9e <em>Level Upper (Slot 1)<\/em> \u958b\u59cb\u64cd\u4f5c\u3002<\/li>\n<li>\u5c07 Cap Jig \u5b89\u88dd\u5230 FOUP \u4e0a\u65b9\u3002<\/li>\n<li>\u5c08\u6848 Step-Run\uff08\u9700\u4e8b\u5148\u8a2d\u5b9a\u597d\u9060\u62cd LM \u9ede\u4f4d\uff09\n<ul>\n<li>LM \u5b9a\u9ede\u5f0f\u5b9a\u4f4d (Slot Landmark) :\n<ul>\n<li>Robot \u5148\u9032\u884c\u9060\u62cd\u8207\u8fd1\u62cd\uff0c\u53d6\u5f97Slot LM\u5c0d\u61c9\u7684 VisionBase_Slot\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<ul>\n<li style=\"list-style-type: none;\">\n<ul>\n<li>LM \u5b9a\u9ede\u5f0f\u5b9a\u4f4d (Jig Landmark)\uff1a\n<ul>\n<li>\u518d\u9032\u884c\u9060\u62cd\u8207\u8fd1\u62cdJig LM\uff0c\u53d6\u5f97 VisionBase_Jig\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<ol start=\"4\">\n<li>\u6559\u5c0e\u53d6\u653e\u9ede\uff08Pick &amp; Place Points\uff09\n<ul>\n<li>\u57fa\u65bc VisionBase_Jig \u6559\u5c0e\u53d6\u653e\u9ede\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\u91cd\u8907\u76f8\u540c\u6b65\u9a5f\uff0c\u4f9d\u5e8f\u5b8c\u6210\u5176\u4ed6\u5c64\uff08Level Middle \/ Lower\uff09\u7684\u53d6\u653e\u9ede\u6559\u5c0e\u3002<\/li>\n<\/ol>\n<hr \/>\n<h2>\u5168\u57df\u8b8a\u6578<\/h2>\n<ul>\n<li>\u7cfb\u7d71\u4e2d\u82e5\u6709 N \u500b Slots\uff0c\u9700\u5728 TMflow \u4e2d\u5efa\u7acb N \u7d44\u5168\u57df\u8b8a\u6578\u3002<br \/>\n\u4f8b\u5982\uff1a<\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/table.png\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-132526\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/table.png\" alt=\"\" width=\"474\" height=\"170\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/table.png 474w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/table-300x108.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/table-360x129.png 360w\" sizes=\"(max-width: 474px) 100vw, 474px\" \/><\/a><\/p>\n<hr \/>\n<h2>\u57f7\u884c\u5c08\u6848\u6d41\u7a0b<\/h2>\n<ol>\n<li>Define \u968e\u6bb5<\/li>\n<\/ol>\n<ul>\n<li>\u5efa\u7acbVisionBase_Slot \u8207 VisionBase_Jig \u7684\u76f8\u5c0d\u95dc\u4fc2\uff08Transformation Matrix\uff09\u3002<\/li>\n<li>\u5c07\u7d50\u679c\u5b58\u5165\u5c0d\u61c9\u7684\u5168\u57df\u8b8a\u6578\u3002<\/li>\n<\/ul>\n<p>\u4f8b\u5982:<\/p>\n<ul>\n<li style=\"list-style-type: none;\">\n<ul>\n<li>Slot 1 \u95dc\u4fc2\u5b58\u5165 g_Z_Slot_Trans_1<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<ul>\n<li style=\"list-style-type: none;\">\n<ul>\n<li>Slot 2 \u95dc\u4fc2\u5b58\u5165 g_Z_Slot_Trans_2<\/li>\n<li>\u2026<\/li>\n<li>Slot N \u95dc\u4fc2\u5b58\u5165 g_Z_Slot_Trans_N<\/li>\n<\/ul>\n<\/li>\n<li>\u5f9e\u4efb\u4e00\u69fd\u4f4d\uff08\u4f8b\u5982 Slot 1\uff09\u958b\u59cb\uff0c\u5b8c\u6210\u95dc\u4fc2\u5b9a\u7fa9\u5f8c\u5207\u63db\u81f3\u4e0b\u4e00\u69fd\u4f4d\u3002<\/li>\n<li>\u5b8c\u6210\u5176\u4ed6\u69fd\u4f4d(Slot 2~Slot 6) Transformation Matrix \u5efa\u7acb\u3002<\/li>\n<\/ul>\n<p>2. Run \u968e\u6bb5<\/p>\n<ul>\n<li>\u7576\u4e0a\u4f4d\u6a5f\u4e0b\u767c\u5de5\u55ae\u6642\uff0c\u7cfb\u7d71\u53ef\u4ee5\u4f9d\u64da\u5de5\u55ae\u5167\u5bb9\u6539\u8b8a\u8b8a\u6578 ID\u3002<\/li>\n<li>Robot \u5c08\u6848\u6703\u81ea\u52d5\u5957\u7528\u8a72\u69fd\u4f4d\u7684\u76f8\u5c0d\u95dc\u4fc2\uff0c\u5b8c\u6210\u53d6\u653e\u52d5\u4f5c\u3002<\/li>\n<\/ul>\n<h1>Q&amp;A<\/h1>\n<p>Q. \u5c08\u6848\u7576\u4e2d\u662f\u600e\u9ebc\u5be6\u4f5c\u5efa\u7acbSlot \/ Jig LM\u95dc\u4fc2\u4ee5\u53ca\u5982\u4f55\u4f7f\u7528?<\/p>\n<p>A. \u5728\u5c08\u6848 Define \u968e\u6bb5\u7684\u6d41\u7a0b\u7576\u4e2d\uff0c\u4f7f\u7528 Script Node + TMscript Command \u2013&gt; <strong>Trans()<\/strong> \u5c07\u5169\u500b LM Base \u5efa\u7acb\u95dc\u4fc2\u4e26\u5b58\u5230\u5168\u57df\u8b8a\u6578\u4e0a\u3002<\/p>\n<figure id=\"attachment_132532\" aria-describedby=\"caption-attachment-132532\" style=\"width: 1524px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/figure-7.png\"><img loading=\"lazy\" class=\"wp-image-132532 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/figure-7.png\" alt=\"\" width=\"1524\" height=\"135\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/figure-7.png 1524w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/figure-7-300x27.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/figure-7-1024x91.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/figure-7-768x68.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/figure-7-360x32.png 360w\" sizes=\"(max-width: 1524px) 100vw, 1524px\" \/><\/a><figcaption id=\"caption-attachment-132532\" class=\"wp-caption-text\">Figure 7: Script Node \u7576\u4e2d\u4f7f\u7528 Trans() \u5efa\u7acb\u95dc\u4fc2<\/figcaption><\/figure>\n<p>\u53e6\u5916\u5728\u5c08\u6848 Run \u968e\u6bb5\u7684\u6d41\u7a0b\u7576\u4e2d\uff0c\u4f7f\u7528 TMscript Command \u2013&gt; <strong>Applytrans()<\/strong> \u5efa\u7acb\u865b\u64ec Jig LM \u5ea7\u6a19\u7cfb\u3002<\/p>\n<figure id=\"attachment_132538\" aria-describedby=\"caption-attachment-132538\" style=\"width: 1421px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-8.png\"><img loading=\"lazy\" class=\"size-full wp-image-132538\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-8.png\" alt=\"\" width=\"1421\" height=\"304\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-8.png 1421w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-8-300x64.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-8-1024x219.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-8-768x164.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-8-360x77.png 360w\" sizes=\"(max-width: 1421px) 100vw, 1421px\" \/><\/a><figcaption id=\"caption-attachment-132538\" class=\"wp-caption-text\">Figure 8: Script Node \u7576\u4e2d\u4f7f\u7528 Applytrans() \u5efa\u7acb\u865b\u64ec Jig LM Base<\/figcaption><\/figure>\n<p>Q. \u5982\u4f55\u589e\u52a0 LM Base \u5b9a\u4f4d\u7cbe\u5ea6?<\/p>\n<p>A. \u9664\u4e86\u78ba\u8a8d\u5149\u7dda\u5145\u8db3\u5916\uff0c\u5efa\u8b70\u53ef\u4ee5\u5728 Vision Job \u62cd\u651d\u524d\u52a0\u4e0a\u7b49\u5f85\u6642\u9593(Ex. Waitfor Node &#8211; 1000ms)\uff0c\u8b93Robot \u5728\u4e00\u500b\u76f8\u5c0d\u7a69\u5b9a\u4e0d\u52d5\u7684\u72c0\u614b\u4e0b\u62cd\u7167\u3002<\/p>\n<p>Q. \u8a2d\u8a08Jig\u662f\u5426\u6709\u4ec0\u9ebc\u5efa\u8b70?<\/p>\n<p>A. Jig \u4e3b\u8981\u7684\u76ee\u7684\u662f\u300c\u56fa\u5b9a\u4e0a\u65b9\u7684LM \u8207 FOUP \u7684\u95dc\u4fc2\u300d\uff0c\u56e0\u6b64\u8a2d\u8a08\u7684\u5efa\u8b70\u662f\u80fd\u76e1\u91cf\u8cbc\u5408\u4e26\u6e1b\u5c11LM\u7684\u504f\u79fb\u91cf\uff0c\u4f8b\u5982: Jig \u4e0b\u65b9\u53ef\u4ee5\u8a2d\u8a08\u9310\u578b\u51f8\u53f0\u4f86\u5c0d\u9f4a FOUP \u4e2d\u5fc3\uff0c\u6bcf\u6b21\u5b89\u88dd\u6642\u90fd\u80fd\u5728\u76f8\u540c\u4f4d\u7f6e\u3002<\/p>\n<figure id=\"attachment_132544\" aria-describedby=\"caption-attachment-132544\" style=\"width: 990px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/figure-9.png\"><img loading=\"lazy\" class=\"size-full wp-image-132544\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/figure-9.png\" alt=\"\" width=\"990\" height=\"426\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/figure-9.png 990w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/figure-9-300x129.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/figure-9-768x330.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/figure-9-360x155.png 360w\" sizes=\"(max-width: 990px) 100vw, 990px\" \/><\/a><figcaption id=\"caption-attachment-132544\" class=\"wp-caption-text\">Figure 9: Jig \u4e0b\u65b9\u8a2d\u8a08\u4e2d\u5fc3\u5c0e\u5411\u51f8\u53f0<\/figcaption><\/figure>\n<p>\u5982\u679c\u8a8d\u70ba\u8a2d\u8a08 Jig \u904e\u65bc\u7e41\u7463\uff0c\u4e5f\u53ef\u4ee5\u76f4\u63a5\u5229\u7528\u4e00\u500bFOUP \u8cbc\u4e0a LM \u4f5c\u70ba Golden Sample\uff0c\u5982\u6b64\u4e5f\u80fd\u9054\u6210\u76ee\u7684 -\u300c\u56fa\u5b9a\u4e0a\u65b9\u7684LM \u8207 FOUP \u7684\u95dc\u4fc2\u300d\uff0c\u53ea\u662f\u76f8\u8f03\u65bc\u88fd\u4f5cJig\uff0cFOUP \u672c\u8eab\u7684\u9020\u50f9\u8f03\u9ad8\uff0c\u53ef\u4ee5\u6839\u64da\u7576\u6642\u60c5\u6cc1\u5224\u65b7\u8981\u7528\u4f55\u7a2e\u65b9\u5f0f\u5be6\u73fe\u6b64\u65b9\u6cd5\u3002<\/p>\n<p>&nbsp;<\/p>\n<p>Q. \u6b64\u65b9\u6cd5\u7684\u61c9\u7528\u6ce8\u610f\u4e8b\u9805?<\/p>\n<p>A. \u5982\u679c FOUP Base \u4e4b\u9593\u7684\u8ddd\u96e2\u592a\u9060\uff0c\u5373\u4fbf\u4f7f\u7528 Jig LM \u7d71\u4e00\u5efa\u7acb\u53d6\u653e\u9ede\uff0c\u9084\u662f\u6703\u53d7\u5230\u624b\u81c2\u59ff\u614b\u5dee\u7570\u5c0e\u81f4\u7684\u975e\u7dda\u6027\u8aa4\u5dee\uff0c\u5efa\u8b70\u8ddd\u96e2\u82e5\u5927\u65bc 500mm \u5247\u9700\u8981\u91cd\u65b0\u6559\u5c0e\u4e00\u7d44\u53d6\u653e\u9ede\u3002<\/p>\n<figure id=\"attachment_132550\" aria-describedby=\"caption-attachment-132550\" style=\"width: 1164px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-10.png\"><img loading=\"lazy\" class=\"size-full wp-image-132550\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-10.png\" alt=\"\" width=\"1164\" height=\"1111\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-10.png 1164w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-10-300x286.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-10-1024x977.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-10-768x733.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/11\/fig-10-360x344.png 360w\" sizes=\"(max-width: 1164px) 100vw, 1164px\" \/><\/a><figcaption id=\"caption-attachment-132550\" class=\"wp-caption-text\">Figure 10: Effect of Excessive Working Distance<\/figcaption><\/figure>\n<ul>\n<li style=\"list-style-type: none;\"><\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>TMflow Software version: 2 Series TM Robot Hardware ver [&hellip;]<\/p>\n","protected":false},"author":8760,"featured_media":0,"parent":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"doc_category":[4613],"doc_tag":[],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v16.9 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Intelligent Cloning Workflow | Techman Robot<\/title>\n<meta name=\"robots\" content=\"noindex, follow\" \/>\n<meta property=\"og:locale\" content=\"zh_TW\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Intelligent Cloning Workflow | Techman Robot\" \/>\n<meta property=\"og:description\" content=\"TMflow Software version: 2 Series TM Robot Hardware ver [&hellip;]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.tm-robot.com.cn\/zh-hant\/docs\/intelligent-cloning-workflow\/\" \/>\n<meta property=\"og:site_name\" content=\"Techman Robot\" \/>\n<meta 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