[Purpose]
A user frame is set in the subsequent step, and the touch-up pointer is used in that step.
As a preparation for that, a TCP (tool frame) is set at the tip of the touch-up pointer in this step.
[Procedure]
Attach a touch-up pointer ((1) on the right figure) to the robot.
Install a touch-up fixture ((2) on the right figure) at a position close enough for the touch-up pointer to reach it.

TP
Select the [MENU] key → '6 SETUP' → '4 Frames'.

TP
Select F3 [OTHER] → '1 Tool Frame'.

TP
In the tool frame setting screen, set the tip point of the touch-up pointer by three-point teaching. In this tutorial, it is set to Tool Frame 2 for an illustration purpose.

TP
Jog the robot, and move the touch-up pointer tip closer, but do not touch, to the tip point of the touch-up fixture.

TP
Record each of the approach points 1 to 3 with different orientations.
Additional
Although TCP setting is the basis of robot operation, this is the important procedure and is specially described.