Mitsubishi Electric MELFA FR CR800 Series User Manual page 466

<a>
<b>
<c>
5
Select the robot (<a>) and the tool number (<b>).
Move the robot with a tool mounted. Select a line of the "Auxiliary point" list (<c>) and click the [Teach selection
line] button (<d>). It will teach the same position at 3 to 8 points with different postures.
When a value is set in "Calculated tool coordinate", the [Write] button (<e>) becomes effective. When the [Write]
button (<e>) is clicked, the values of a tool parameter (MEXTL) are written to the robot controller.
When the [Error information] button (<f>) is clicked, it is possible to check the deviation from a teaching point.
Caution
Teach the position by greatly varying the posture of the robot.
The tool coordinates might be not computable if the postures are similar. (e.g. when only A axis is
different)
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<d>
<f>
Figure 18-74 The "Tool automatic calculation" screen
<e>
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