### Execute Alignment

XA

Execute “Golden Pose Alignment”

#### TCP/IP:

Command String:

XA,<partID>,<resultMode>,<X>,<Y>,<Z>,<A>,<B>,<C>

Field | Arguments
--- | ---
XA | The command
<partID> | The PartID of the part to locate. PartIDs depend on the recipe configuration.
<resultMode> | Specifies how the result will be returned: “Abs”: Return the absolute motion position to get the target to the trained golden pose. “Off”: Return the Offset from the current motion position to get the target to the trained golden pose.
<X> | The X-coordinate of the current position of the motion system
<Y> | The Y-coordinate of the current position of the motion system
<Z> | The Z-coordinate of the current position of the motion system
<A> | The Z-rotation of the current position of the motion system
<B> | The Y-rotation of the current position of the motion system
<C> | The X-rotation of the current position of the motion system

Result String:

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

Field | Description
--- | ---
XA | The command
<Status> | The result status 1: Success <=0: Fail
<X> | The X-coordinate (absolute or offset) of the motion system’s destination pose.
<Y> | The Y-coordinate (absolute or offset) of the motion system’s destination pose.
<Z> | The Z-coordinate (absolute or offset) of the motion system’s destination pose.
<A> | The Z-rotation (absolute or offset) of the motion system’s destination pose.
<B> | The Y-rotation (absolute or offset) of the motion system’s destination pose.
<C> | The X-rotation (absolute or offset) of the motion system’s destination pose.

#### SLMP:

Send command (Input Block)

Offset | Value | Description
--- | --- | ---
VIB_Offset + 2 | 3011 | Command: XA command ID
VIB_Offset + 3 | <partID> | Argument0: The PartID of the part to locate. PartIDs depend on the recipe configuration.
VIB_Offset + 5 | <resultMode> | Argument1: The requested result mode: 1: Absolute 2: Offset
VIB_Offset + 7 | <X> | The X-coordinate of the current position of the motion system
VIB_Offset + 9 | <Y> | The Y-coordinate of the current position of the motion system
VIB_Offset + 11 | <Z> | The Z-coordinate of the current position of the motion system
VIB_Offset + 13 | <A> | The Z-rotation of the current position of the motion system
VIB_Offset + 15 | <B> | The Y-rotation of the current position of the motion system
VIB_Offset + 17 | <C> | The X-rotation of the current position of the motion system

Receive Result (Output Block)

Offset | Value | Description
--- | --- | ---
VOB_Offset + 5 | 3011 | Command: XA command ID
VOB_Offset + 6 | <Status> | The result Status: 1: Success <=0: Fail
VOB_Offset + 7 | <X> | The X-coordinate of the result pose (absolute or offset)
VOB_Offset + 9 | <Y> | The Y-coordinate of the result pose (absolute or offset)
VOB_Offset + 11 | <Z> | The Z-coordinate of the result pose (absolute or offset)
VOB_Offset + 13 | <A> | The Z-rotation of the result pose (absolute or offset)
VOB_Offset + 15 | <B> | The Y-rotation of the result pose (absolute or offset)
VOB_Offset + 17 | <C> | The X-rotation of the result pose (absolute or offset)