Function Overview
This function aligns the Z-axis of the robot arm's flange with the Z-axis direction of the robot's base coordinate system.
Purpose
By aligning the flange in the specified direction, tools attached to the robot—such as grippers or welding torches—can maintain correct orientation. This ensures consistent posture during operation and enables accurate task execution.
Operation
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Select the desired alignment direction: Forward (+Z) or Reverse (−Z).
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Based on the selected direction, the flange is rotated so that its Z-axis aligns with the upward or downward Z-axis of the base coordinate system.