This paper deals with the scanner exterior calibration algorithm when the scanner is arranged by the robot and the object scanned is fixed on a rotate device in the Robot Remanufacturing System. The method of calibrating the relationship between the scanner coordinate and the robot Tool0, such as the rotation, Rx, Ry, R,, and the transformation X, Y, Z is studied. The data of Tool0 can be directly obtained from the relationship with the robot base-coordinate. So, the coordinate relationship between the scanner coordinate and the robot base coordinate can be easily gotten. This paper explains the basic algorithm theory, computing method, data collecting process and the resulted data in detail. The calibration algorithm is deduced under the orthogonal coordinate.