Robot Tool Alignment Control for Lead-Through Programming

The alignment function is activated in advance and remains active throughout the programming process. The control unit continuously monitors robot movement status and automatically performs alignment when movement stops, eliminating the need for repeated manual activation at each target point while maintaining alignment accuracy.

The control unit automatically detects when robot movement has stopped and autonomously activates the alignment function without requiring operator intervention. This self-service mechanism maintains alignment accuracy while allowing the operator to maintain continuous focus on the programming process without repeated hand movements to the HMI/TPU.

The control unit continuously monitors robot movement status through feedback signals from the robot system. Alignment is automatically activated only when the feedback indicates that movement has stopped, creating a reliable conditional trigger that improves programming efficiency while preventing unintended alignment during active movement through continuous status verification.