### Hand Eye Execute Step

HE

Execute a Hand-Eye calibration step.

#### TCP/IP:

Command String:
HE,<cam>,<featureID>,<X>,<Y>,<Z>,<A>,<B>,<C>

Field | Description
--- | ---
HE | The command
<cam> | The cameras to be calibrated: 0: All available cameras 1: Camera 1 only 2: Camera 2 only
<featureID> | 1: Feature 1 2: Feature 2 For a shuttling camera, feature 1 must be used to calibrate shuttling position 1, feature 2 for shuttling position 2.
<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:
HE,<Status>

Filed | Arguments
--- | ---
HE | The command this is the result from
<Status> | The result status 1: Success <=0: Fail

#### SLMP

Send command (Input Block)

Offset | Value | Description
VIB_Offset + 2 | 2021 | Command: HE command ID
VIB_Offset + 3 | <cam> | Argument0: The camera(s) to be calibrated
VIB_Offset + 5 | <featureID> | Argument1: Selects the camera feature to be located for calibration: 1: Feature 1 2: Feature 2 For a shuttling camera, feature 1 must be used to calibrate shuttling position 1, feature 2 for shuttling position 2.
VIB_Offset + 7 | <X> | Argument2: The X-coordinate of the current motion position
VIB_Offset + 9 | <Y> | Argument3: The Y-coordinate of the current motion position
VIB_Offset + 11 | <Z> | Argument4: The Z-coordinate of the current motion position
VIB_Offset + 13 | <A> | Argument5: The Z-rotation of the current motion position
VIB_Offset + 15 | <B> | Argument6: The Y- rotation of the current motion position
VIB_Offset + 17 | <C> | Argument7: The X- rotation of the current motion position

Receive Result (Output Block)

Offset | Value | Description
--- | --- | ---
VOB_Offset + 5 | 2021 | Command: HE command ID
VOB_Offset + 6 | <Status> | The result Status: 1: Success <=0: Fail