Align 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 or specified axis of the specified local coordinate system.

Syntax
Align (Point[, localNumber[, axisNumber] ])

Parameters

Point

Specify the target point data.

localNumber

Specify the local coordinate system number you wish to use as a basis for aligning the robot orientation. If omitted, the base coordinate system is used.

axisNumber

Specify the axis number to align the robot orientation. If omitted, the robot orientation will be aligned to the nearest coordinate axis.

Constant	Value
COORD_X_PLUS	1:	+X axis
COORD_Y_PLUS	2:	+Y axis
COORD_Z_PLUS	3:	+Z axis
COORD_X_MINUS	4:	-X axis
COORD_Y_MINUS	5:	-Y axis
COORD_Z_MINUS	6:	-Z axis

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. Align Function converts the orientation data (U, V, W) of the specified point data and aligns with the nearest or specified 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
AlignECP Function, LJM Function

Align Function Example

Move Align(P0) ROT

P1 = Align(P0, 1)
Move P1 ROT

P2 = Align(P0, 1, 3)
Move P2 ROT