Align Panel

1

Robot Posture

Displays the current robot’s joint posture and task posture.
The task posture follows the reference coordinate system selected in section 4.

2

Home Position Button

Moves the robot to the home position when clicked.

3

Align Button

Aligns the robot when clicked.

4

Select Reference Coordinate System

Select the reference coordinate system for positioning.

5

Tool Axis

Select which axis of the TCP to align.

6

Target Direction

Select the direction to align the TCP with.

7

Alignment Method

Select the alignment method.
For Basic Alignment, the TCP is aligned with one of the X, Y, or Z axes of the reference coordinate system.
For 3-Point Vector Alignment, the TCP is aligned with the direction of the normal vector of a plane defined by three points, based on the reference coordinate system.

8

Coordinate Axis

Select which axis of the reference coordinate system to align with.

9

Select Points on a Plane

Select three points that define the plane.

10

Target Point Alignment

Select a point to position the TCP.
This is optional—if not selected, only the orientation will be aligned based on the current position.