In setting up a control system for horizontal rough positioning
, the vehicle 60 is positioned exactly at each desired stopping position thereof at the pickup and delivery stations 22 and the storage bin columns 33. The encoder 150 signal valueat each rough position zone relative to each station 22 and storage bin column 33 is then read and recorded in the memory of the automatic storage and retrieval system 10 controls. The horizontal encoder 150 signal values thus recorded compriseaddresses for respective pickup and delivery stations 22 and storage bin columns 33.