Yaskawa MotionSuite Series Machine Controller Software Manual - Manual (Page 365)

MotionSuite™ Series Machine Controller Software Manual Chapter 9: Motion Programming
9-13
2. Setting Taught Axes
This function sets the axes to be taught.
Select Edit (E), and Position Teaching (P), in that order
Or, push the Position Teaching button.
Now, with the position teaching window open, set the axes for which the teach function is
to be executed. A1 and B1 are set as the teach axes in the example below.
Position Teaching Button