# XA Command

Prerequisite: You must run the TA command before you run this command.

Use this command to get the coordinates that the moving station must move to bring that target from an arbitrary run-time position back to the golden position.

<command>,<camera>,<resultMode>,<X>,<Y>,<Z>,<A>,<B>,<C>

Argument: | Value:
--- | ---
<command> | One of the following: XA for TCP/IP 3011 for SLMP Scanner
<camera> | The camera value you selected for the TA command.
<resultMode> | The kind of result to expect: 1 for Abs The motion system moves to the provided absolute position to align the target with its golden position. 2 for Off The offset from the current motion position for this step will be returned. The motion system must apply this offset to the current position to align the target with its golden position.
<X>,<Y>,<Z>,<A>,<B>,<C> | These arguments represent the degree of freedom pose coordinates for 3D and 2D. For a description of these, see Alignment Sensor Command Overview

Result String:

XA,<Status>,<X>,<Y>,<Z>,<A>,<B>,<C> for TCP

3011,<Status>,<X>,<Y>,<Z>,<A>,<B>,<C> for SLMP Scanner

Note: The returned pose, X,Y,Z,A,B,C, that the motion system has to move to bring the target to its golden pose.

Result Status:

Status | Description
--- | ---
0 | Error. Target not found or camera is not calibrated.
1 | Success.