Yamaha RCX240 User Manual page 178

11. "MANUAL" mode
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NOTE
Point data teaching cannot be performed if return-to-origin is incomplete.
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Chapter 4 OPERATION
Point data teaching (with auxiliary axis [6])
Point data teaching (with auxiliary axis [7])
When teaching on standard axes
Point data teaching (with auxiliary axis [8])
When teaching on auxiliary axis
When teaching on all axes