AutoOrientationFlag Statement

Changes orientation flag of N6-A1000**.

Syntax
AutoOrientationFlag { On | Off }​

Parameters

On | Off

• On: Enables the AutoOrientationFlag.
• Off: Disables the AutoOrientationFlag. (Default)

Description
AutoOrientationFlag is available for following commands:

Go, BGo, TGo, Jump3, JumpTLZ

Change the following orientation flag:

Model	Parameter OFF/ON	Orientation flag			Remark
		Hand	Elbow	Wrist
N6-A1000 **	OFF	-	-	-	Move with the orientation flag which is selected by user. (Default)
	ON	-	✓	✓*1	Set “ON” when you cannot select the orientation flag.

✓: When setting the AutoOrientationFlag to “ON”, the orientation flag is changed

*1: Wrist orientation flag is changed only when you change the elbow orientation flag. When you change the wrist orientation flag, it will be the orientation flag which minimizes the movement of Joint #4.

Use AutoOrientationFlag with LJM Function

When you use the command with LJM Function, Wrist Flag, J4Flag, and J6Flag will be the orientation selected by LJM Function. For example, when you set orientationFlag of LJM Function to “3”, “Wrist Flag”, “J4Flag”, and “J6Flag” are selected so that Joint #5 will be the shortest movement. When you do not use LJM Function, “Wrist Flag”, “J4Flag”, and “J6Flag” are selected so that Joint #4 will be the shortest movement.

AutoOrientationFlag Example

Motor On
Power High
AutoOrientationFlag On

Go P1 ' moves to AglToPls(0, 0, 0, 0, 0, 90) joint position
Go P2

• When setting the AutoOrientationFlag to “ON”:

  Flag is changed as follows due to the position of point P and the red line.

• Point P is above the red line: Above

• Point P is above the red line: Below