Mitsubishi MELFA CR1D Instruction Manual page 322

4MELFA-BASIC IV
Align
[Function]
Positional posture axes (A, B, and C axes) are converted to the closest XYZ postures (0, +/-90, and +/-180).
Align outputs numerical values only. The actual operation will involve movement instructions such as the
Mov instruction.
[Format]
<Position Variables>=Align(<Position>)
[Reference Program]
1 P1=P_Curr
2 P2=Align(P1)
3 Mov P2
[Explanation]
(1) Converts the A, B, and C components of the position data to the closest XYZ postures (0, +/-90, and +/-
180).
(2) Since the return value is of position data type, an error will be generated if the left-hand side is of joint
variable type.
(3) This function cannot be used in vertical multi-joint 5-axes robot.
The following shows a sample case for the axis B.
4-309 Detailed Explanation of Functions