# ACB Command

Use this command to determine the position of the camera within the coordinate space of the motion system, without having to train the positions of the motion system. Calibration positions are provided by the AS200.

<command>,<camera>,<target ID>,<X>,<Y>,<Z>,<A>,<B>,<C>

Argument: | Value:
--- | ---
<command> | One of the following: ACBfor TCP/IP 2030for SLMP Scanner
<camera> | One of the following: 1 for only camera 1 2 for only camera 2
<targetID> | 0 Zero is the default because only one target feature is supported by the Alignment Sensor.
<X>,<Y>,<Z>,<A>,<B>,<C> | These arguments represent the 3D pose coordinates of the current position of the motion system. For a description of these, see Alignment Sensor Command Overview

Result String:

ACB,<status>,<X>,<Y>,<Z>,<A>,<B>,<C> for TCP

2030,<status>,<X>,<Y>,<Z>,<A>,<B>,<C> for SLMP Scanner

Note: The returned pose, X,Y,Z,A,B,C, is the next calibration position to move to.

Result Status:

Status | Description
--- | ---
0 | Error. Target not found.
2 | Success. Continue with the returned pose.