Mitsubishi Electric CR750-Q Instruction Manual page 676

7Appendix
3) Teaching the grasp position
* This is only required for Ex-T spline. For spline, perform the procedure in
Click [Work-flow] to display the Work-flow screen. Click the [Get location] button on the Work-flow
screen to teach the position at which the workpiece is to be grasped.
* The data taught here is the grasp position.
* Ensure not to move the workpiece after teaching the grasp position.
Fig.7-77:Teaching the grasp position
Appendix-656 Spline interpolation
"4)Creating paths".