Systems and methods for teaching device coordinates used by a pick and place device (10). The nozzle is moved in the X and Y coordinates to a position above the device in the location to be taught (315). The new X and Y coordinates of the nozzle are stored to a memory along with the initial angle coordinate (335). The system automatically determines the Z location of the surface of the device (220). The nozzle then automatically picks up the device (355) and performs vision centering to determine the X, Y, and angle offsets with respect to the initialized coordinates (365). The X, Y, and angle offsets used to modify the stored X, Y, and angle coordinates so as to precisely determine the X and Y location of the device center as well as the device angle with respect to the system's global reference frame (460).
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