AlignECP Function

Returns the point data converted to align the robot orientation (U, V, W) at the specified point in the tool coordinate system with the nearest axis of the specified ECP coordinate system.

Syntax
AlignECP (Point, ECPNumber)

Parameters

Point: Specify the target point data.
ECPNumber: Specify the ECP coordinate system number to be a reference for the alignment of orientation.

Description
While operating the 6-axis robot (including N series), the robot orientation may have to be aligned with an axis of the specified local coordinate system without changing the tool coordinate system position (origin) defined with the point data. AlignECP Function converts the orientation data (U,V,W) of the specified point data and aligns with the nearest axis of the specified local coordinate system.

For robots except for the 6-axis robots (including N series), it returns a specified point.

See Also
Align Function, LJM Function

AlignECP Function Example

Move AlignECP(P0) ROT

P1 = AlignECP(P0, 1)
Move P1 ROT

← Align Function And Operator →