Now drive the ROB3 around the body axis (axis 1) using the '+' and
'-' keys until the adjustment strip still inserted in the gripper
is located exactly above the center point of the adjustment circle 
for axis 5. Confirm this position using 'Enter'.

As before, the ROB3 again drives 'dyamically' to this position and
you have the possibility for correction.

Final confirmation of this position is carried out with 'Ctrl-Enter'.

The gripper is now slightly opened. Now take the holder for the
writing tool and screw the two centering pins tightly into the
holes provided for them. Now insert the approx. 60 mm long, approx.
11 mm diameter centering pin into the holder instead of the writ-
ing instrument and tighten this with the rubber belt. Now press the
gripper jaws apart (against the spring) until the holder can be 
snugly fit into the gripper. The tip of the centering pin is pressed 
into the cylinder-shaped hole in the base plate. Now the two centering 
pins, about 5 cm in length, are located tangenitally to the body arc
measuring 406 mm in diameter. When you are finished: Terminate with
'Enter' !!