Mitsubishi Electric MELFA FR CR800 Series User Manual page 362

Caution
Do not change tool data, tool number, or base data.
Do not change tool data, tool number, or base data during re-teaching. Re-teaching calculation will
not be performed correctly.
When correcting tool data, if teaching was performed switching back and forth between multiple
tools, perform re-teaching operation for each tool.
Caution
Select position data with a different posture element,
Select position data with a different posture element, when re-teaching two or more positions.
When position data of the same posture element are selected, there is a possibility that the
parameter is not correctly calculated.
Caution
Cautions on using a robot with the additional axis.
When restoring the position with a robot with a travel axis, reteach at a position where the travel
position becomes the same as in the original position travel axis data. (Move the robot so that the
travel axis data becomes the same as the original position.) If the retaught position travel axis data
differs from the original travel axis data, it is impossible to find the correct revision parameters.
It is possible to change the revision parameters to be generated.
Go back one step to the "Revision parameter selection" window to change the setting. Note that if you go back
one more step to the "Tool Setting Check" window, all information set by re-teaching work will be cleared.
Caution
When go back to "Tool setting check" window, all information set by
re-teaching work will be cleared.
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when re-teaching two or more positions.
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