### Get Current Pose

GCP

Returns the current pose of the selected feature in the selected coordinate system.

Version 1.7.3 and higher

#### TCP/IP:

Command String:

GCP,<stepID>,<coord>,<X>,<Y>,<Z>,<A>,<B>,<C>

Field | Arguments
--- | ---
GCP | The command
<stepID> | This argument defines the StepID with the feature selected to set the golden pose for. Note: Only steps containing a single feature can be selected here.
<coord> | “Home2D” “Cam2D” “Raw2D”
<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:

GCP,<Status>,<X>,<Y>,<Theta>

Field | Description
--- | ---
GCP | The command
<Status> | The result status 1: Success <=0: Fail
<X> | The current X-coordinate of the target in the selected coordinate system
<Y> | The current Y-coordinate of the target in the selected coordinate system
<Theta> | The current rotation of the target in the selected coordinate system

#### SLMP:

Send command (Input Block)

Offset | Value | Description
--- | --- | ---
VIB_Offset + 2 | 3022 | Command: GCP command ID
VIB_Offset + 3 | <stepID> | Argument0: This argument defines the StepID with the feature selected to set the golden pose for. Only steps containing a single feature can be selected here.
VIB_Offset + 5 | <coord> | 1: Home2D 2: Cam2D 3: Raw2D
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 | 3022 | Command: GCP command ID
VOB_Offset + 6 | <Status> | The result Status: 1: Success <=0: Fail
VOB_Offset + 7 | <X> | The current X-coordinate of the target in the selected coordinate system
VOB_Offset + 9 | <Y> | The current Y-coordinate of the target in the selected coordinate system
VOB_Offset + 11 | <Theta> | The current rotation of the target in the selected coordinate system