Mitsubishi Electric R56TB Instruction Manual page 161

Move the robot which is attaching a tool. After selecting the line of "Auxiliary point" list (<b>), tap a [Teach
selection line] button (<c>). Teach a same position by 3 to 8 points with different posture. (When the [Pos. jump]
button (<d>) is tapped, the robot can be moved to the selected position and the teaching point can be checked.
For the precautions, refer to "11.2.5 Confirming the position data (Position jump)".)
When a value is set to "Calculated tool coordinate", a [Write] button (<f>) becomes effective. When the [Write]
button (<f>) is tapped, the values of a tool parameter (MEXTL) are written to the robot controller.
When a [Error information] button (<e>) is tapped, it is possible to check the gap from a teaching point.
Caution
Teach the position with greatly different posture of the robot.
If the teaching points look like each other, the tool coordinate might be not computable.
(e.g. when only A axis is different)
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