# XT Command

Prerequisite: Run the TT and TTR command before you run this command.

Use this command to get locate the target at runtime position and returns the corrected pick position.

<command>,<camera>,<result mode>,<X>,<Y>,<Z>,<A>,<B>,<C>

Argument: | Value:
--- | ---
<command> | One of the following: XT for TCP/IP 4012 for SLMP Scanner
<camera> | The same camera value that you selected for the XA command.
<result mode> | 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> | (Optional) These arguments represent the coordinates of the current position of the motion system. For a description of these, see Alignment Sensor Command Overview on page 1

Result String:

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

4012,<Status>,<X>,<Y>,<Z>,<A>,<B>,<C> for SLMP Scanner

Note: The returned pose, X,Y,Z,A,B,C, is the correct runtime position.

Result Status:

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