# Hand-Eye Calibration

Prerequisite: You must compute or train the positions on the motion system before you run the hand-eye calibration commands. A minimum of eleven calibration positions is required. The positions must include translation in X and Y and rotation about the Z axis.

Use these commands to determine the position of the camera within the coordinate space of the motion system, when the motion system can perform a rotation while within the field of view of the camera.

Hand-eye calibration is a three-step process:

1. Use the HEB command to initialize the calibration.
2. Use the HE commands to provide the positions from the motion system. This command requires eleven steps.
3. Use the HEE command to compute the calibration.

The result string for each command will be one of the following:

- 0 - Error in command
- 1 - Successful command