Kuyeza chida chowunikira chitatha ndi gawo lovuta. Chifukwa kapangidwe ka chida chowunikira ndi kovuta kwambiri ndipo pamwamba pa 3D pali malo ambiri oyezera, nthawi zambiri amayesedwa ndi desktop three-coordinate. Ngakhale kulondola kwa desktop three-coordinate kuli kwakukulu, sikuli bwino kugwira ntchito, makamaka kuyang'anira pang'ono kuli ndi chinthu chachikulu komanso ma angles ambiri akufa. Zoyipa za kuyeza benchtop coordinate zawonekera. Chifukwa chake, njira ina yoyezera imadziwika ndi aliyense. Ichi ndi chida choyezera cha arm coordinate, chida choyezera chomwe chimafanana ndi loboti.

Manja angapo okhazikika amalumikizidwa ndi maulumikizidwe omwe amazungulira mozungulira ma axes ozungulira, ndipo chipangizo choyezera chogwirizana cha makina ozindikira chimayikidwa pa shaft yomaliza. Kawirikawiri, kuchuluka kwa mapewa, zigongono ndi manja kumayimiridwa ndi manambala atatu olekanitsidwa "-". Kapangidwe ka 2-2-3 kakhoza kukhala ndi a0-b0-d0-e0-f0 ndi a0-b0-c0-d0-e0 -f0-g0 Makina oyezera mkono olumikizidwa okhala ndi kuzungulira kwa angular, kuti agwirizane ndi momwe zinthu zilili pano, kuchuluka kwa maulumikizidwe nthawi zambiri kumakhala kochepera 7, nthawi zambiri poyezera pamanja.

Makina oyezera mkono wolumikizidwa amalowa m'malo mwa kutalika kwa mzere ndi ngodya, ndipo amalumikiza ndodo zingapo ndi probe imodzi motsatizana kudzera mu cholumikizira chozungulira, ndipo mapeto a probe amayenda momasuka mumlengalenga, nthawi zambiri amakhala ndi maziko, zilumikizano 6, mikono iwiri, ndipo mutu woyezera ndi ziwalo zina zimapangidwa. Dongosolo loyezera lili ndi malo a madigiri asanu ndi limodzi a ufulu, omwe amatha kuzindikira mosavuta kuyeza kwa zida zovuta zogwirira ntchito. Makina oyezera mkono wolumikizidwa amagwiritsa ntchito ngodya yozungulira ya cholumikizira chilichonse ndi mkono wochitapo kanthu ngati chizindikiro choyezera kuti akwaniritse kuyeza kogwirizana mwa kusintha kwa dongosolo logwirizana. Chifukwa chake, gawo loyambirira loyezedwa mu dongosolo lopezera deta ndi ngodya ya cholumikizira chilichonse, ndipo kutalika kwa mkono wogwirira ntchito kumatsimikiziridwa ndi kulinganiza kwa kapangidwe ka makina.