# How to alignment the TCP position horizontal?

**URL:** <https://forum.universal-robots.com/t/how-to-alignment-the-tcp-position-horizontal/19606>\
**Category:** URScript\
**Created:** [March 2, 2022, 4:10pm UTC](https://forum.universal-robots.com/t/how-to-alignment-the-tcp-position-horizontal/19606 "2022-03-02T16:10:53Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![swkim](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/swkim/32/3011_2.png) [@swkim](https://forum.universal-robots.com/u/swkim)\
**Post date:** [March 2, 2022, 4:10pm UTC](https://forum.universal-robots.com/t/how-to-alignment-the-tcp-position-horizontal/19606/1 "2022-03-02T16:10:53Z")

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I am working with a UR10 (CB3).  
Unfortunately, the CB series is not equipped with an Align function and Align button.  
The picture below is e-series Polyscope.  
 ![eseries_align](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/f/f5955650c36e20726d5621aab7a95d31b7dc8dcd.png)

I want TCP to always be horizontal in the downward direction of the Z-axis.  
As shown in the picture below, I want to do TCP horizontal alignment.  
 ![TCP_ALIGN](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/7/7f31fc57bb9f37737be9a7ed4ecd4f1e0b351bdd.png)

After setting the plane through the base coordinate system, should I align it?  
or, Is there a way to implement it through a script?

Any Idea how to do that?  
Thank you in advance.

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**Author:** ![jha](https://avatars.discourse-cdn.com/v4/letter/j/9fc348/32.png) [@jha](https://forum.universal-robots.com/u/jha)\
**Post date:** [March 7, 2022, 3:43pm UTC](https://forum.universal-robots.com/t/how-to-alignment-the-tcp-position-horizontal/19606/2 "2022-03-07T15:43:31Z")

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Hello,

You can click on the value :

 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/0/0f519486f74eb2eb256f089b3a717abcdac0a0c3.png)

You can choose the Base Feature on the new tab and change the value on rx,ry,rz

 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/a/aea7363064b50d69da9b6ca8f061a623ed12946d.png)

For example, change rx to 180° et ry to 0° and it will do the same as the e-series. On the same idea, you can do the same in script

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<div class="post-metadata">

**Author:** ![swkim](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/swkim/32/3011_2.png) [@swkim](https://forum.universal-robots.com/u/swkim)\
**Post date:** [March 8, 2022, 1:00am UTC](https://forum.universal-robots.com/t/how-to-alignment-the-tcp-position-horizontal/19606/3 "2022-03-08T01:00:51Z")

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Thank you for your comment!