### Get Pose

GP

Gets 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.

#### TCP/IP

Command format

GP,<PartID>,<AlignMode>,<ResultMode>, [current motion pose]

Field | Arguments
--- | ---
GP | The command
<PartID> | Selects the part to get the pose for. The PartID depends on the recipe configuration. For GCP result mode Bit 0..3 specifies the part to be aligned, Bit 4..7 specifies the ID of the part located with the GripCorrect camera, i.e. this PartID must be multiplied with 16: PartID = PlacePartID + 16 * GripCorrectPartID
<AlignMode> | AlignMode (1, 2 or 3) AlignMode 3 computes the corrected pre-trained tray pocket position based on the frame correction of the tray. The trained pocket position must be supplied here. A combination of AlignMode 3 and GCP ResultMode is also supported. In this case: PartID = TrayPartID + 16 * GripCorrectPartID
<ResultMode> | Abs: The result pose will be returned as absolute pose Off: [AlignMode 1] - Return the Offset from the current motion position to get the target to the trained golden pose. [AlignMode 2] - The result pose will be returned as relative pose (offset) from the trained pose (see TPR command) Frame: Returns the Frame correction for tray applications GC: Returns the grip correction offset. GCP: Returns the place position with grip correction applied.
<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:

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

#### SLMP:

Send command (Input Block)

Offset | Value | Description
--- | --- | ---
VIB_Offset + 2 | 5014 | Command: GP command ID
VIB_Offset + 3 | <PartID> | Argument0: Selects the part to get the pose for. The PartID depends on the recipe configuration. For GCP result mode Bit 0..3 specifies the part to be aligned, Bit 4..7 specifies the ID of the part located with the GripCorrect camera, i.e. this PartID must be multiplied with 16: PartID = PlacePartID + 16 * GripCorrectPartID
VIB_Offset + 5 | <AlignMode> | Argument1: AlignMode (1, 2 or 3)
VIB_Offset + 7 | <ResultMode> | Argument2: 1: Absolute 2: Offset 3: Frame 5: GC 6: GCP
VIB_Offset + 9 | <X> | Argument3: The X-coordinate of the current motion position
VIB_Offset + 11 | <Y> | Argument4: The Y-coordinate of the current motion position
VIB_Offset + 13 | <Z> | Argument5: The Z-coordinate of the current motion position
VIB_Offset + 15 | <A> | Argument6: The Z-rotation of the current motion position
VIB_Offset + 17 | <B> | Argument7: The Y- rotation of the current motion position
VIB_Offset + 19 | <C> | Argument8: The X- rotation of the current motion position

Receive Result (Output Block)

Offset | Value | Description
--- | --- | ---
VIB_Offset + 5 | 5014 | Command: GP command ID
VIB_Offset + 6 | Status | Argument0: The result Status: 1: Success <=0: Fail
VIB_Offset + 7 | <X> | Argument1: The X-coordinate of the result pose
VIB_Offset + 9 | <Y> | Argument2: The Y-coordinate of the result pose
VIB_Offset + 11 | <Z> | Argument3: The Z-coordinate of the result pose
VIB_Offset + 13 | <A> | Argument4: The Z-rotation of the result pose
VIB_Offset + 15 | <B> | Argument5: The Y- rotation of the result pose
VIB_Offset + 17 | <C> | Argument6: The X- rotation of the result pose