Thought I would add a quick demonstration of using the Auto Tool Registration Function in the old C Controller.
I used PC-ROSET (pre version to KROSET) but you can apply it to real world systems.
To speed things up, I already taught my positions and used the terminal to jog the robot to the positions prior to recording them.
Please do not try and use the terminal in the way I have on you're live robot.....It will not work unless you have set the positions first.
So, just ignore the terminal window but follow the MFP and Robot Motions in the video.