EP 3 800 007 A1 FIG. 4B QO. e MEASURE OPTICAL CHARACTERISTIC S27 NOTIFY COMPLETION INSTRUCT SECOND MOVEMENT] >29 MOVE ON SECOND ROUTE S30 NOTIFY COMPLETION $32 INSTRUCT ATTACHMENT START 533 [ATTACH CUP NOTIFY COMPLETION INFORMATION OF CUP POSITION ATTACHMENT ANGLE INFORMATION 000 © 24