Yamaha SRCP - Manual (Page 89)

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EDITING POINT DA
TA
Chapter 7 EDITING POINT DATA
There are three methods to enter point data: manual data input (MDI), teaching playback, and direct teaching.
Manual data input allows you to directly enter point data with the TPB number keys.
Teaching playback moves the robot in manual operation to a desired position and then obtains that position as point
data.
Direct teaching is basically the same as teaching playback, except that you move the robot by hand.