# Multi-Step Commands

The Multi-Step commands apply when the part has two features that are located in individual steps, such as when you are shuttling the camera or part.. Some commands require an <AlignMode> argument, which controls how the result pose is computed. Two <AlignMode> arguments exist:

- 1 - Aligns the part with a trained golden pose; the part is attached to the motion system.
- 2 - Aligns the motion system, such as a robot gripper, with a part that is not attached to the motion system.

You use the Multi-Step commands as follows:

- Use the CP command to clear the runtime feature locations in the internal feature table. This command should be used at the beginning of a cycle. It prevents a part pose from being computed using feature locations from a previous cycle.
- Use the LF command to locate the features of a part and store the feature poses in the internal feature table.
- Use the TP command to train the golden poses for the parts that were located by LF commands.
- Use the TPR command to train the motion pose that corresponds to the feature poses that were trained by the TP command. This command is required for shuttling part configurations or for AlignMode 2 applications.

- Use the GP command to get the motion pose required to align the part with its golden pose. The pose is the current motion posed based on the features found using LF command