# PLC/Robot Commands

The AS200 Alignment Sensor supports the following commands. How the commands are referenced in PLC/Robot functions differs based on the communication protocol (TCP/IP or SLMP Scanner).

Command | Purpose | Referenced in TCP/IP functions as: | Referenced in SLMP Scanner functions as:
--- | --- | --- | ---
ACB | Initiates an automatic calibration | ACB | 2030
AC | Executes an automatic calibration | AC | 2031
HEB | Initiates a hand-eye calibration | HEB | 2020
HE | Performs a hand-eye calibration | HE | 2021
HEE | Completes and computes a hand-eye calibration | HEE | 2022
CCB | Initiates a hand-eye calibration | CCB | 2040
CC | Performs a custom calibration | CC | 2041
CCE | Computes a custom calibration | CCE | 2042
TA | Trains the part golden position | TA | 3010
XA | Aligns the trained part with the golden position | XA | 3011
TT | Locates the trained part and stores its position | TT | 3010
TTR | Receives the position that the robot selected, and stores that position along with the trained target position | TTR | 4011
XT | Executes the position that TTR stores, and adjusts the position, if needed | XT | 4012
LF | Locates the features of a part and stores the feature poses in the internal feature table. | LF | 5011
CP | Clears the runtime feature locations in the internal feature table. | CP | 5010
TP | Trains the golden poses for the part located by previously executed LF commands. | TP | 5012
TPR | Trains the motion pose that corresponds to the feature poses that were trained by the TP command. | TPR | 5013
GP | Gets the motion pose required to align the part with its golden pose. | GP | 5014

For information about dependencies and command syntax, see the AS200 Alignment Sensor User Guide.