A system is disclosed for autonomously teaching one or more working points in an apparatus configured to process disks during manufacture. The apparatus including an end effector with a gripper for holding a disk and a robotic unit configured to move the end effector between working points throughout the apparatus. The system comprises one or more servers configured to execute method steps. The steps comprise leveling the gripper in a first position with respect to a first fixture; determining a location of the gripper in the first position, and determining a location of a center of the disk in the first position with respect to the first fixture.