### Execute Alignment (with L-Check)

Note: This command only supports PartIDs with two features.

L-Check compares the runtime-distance between the two features of the part with the traintime distance. A big deviation may suggest that incorrect features have been located. Pass/fail results are judged based on the threshold specified on the HMI by comparing against the training feature distance (TA, TT commands)

### XALC

Execute “Golden Pose Alignment” with L-Check

Version 3.1 and higher

#### TCP/IP:

Command String:

XALC,<partID>,<resultMode>,<LCResultMode>,<X>,<Y>,<Z>,<A>,<B>,<C>

Field | Arguments
--- | ---
XALC | The command
<partID> | The PartID of the part to locate. PartIDs depend on the recipe configuration. Only PartIDs with 2 features are supported.
<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.
<LCResultMode> | Specifies how the L-Check result shall be returned: “Abs”: The absolute runtime distance between the part features. “Diff”: The deviation (difference) between runtime and traintime distance. “Rel”: The relative deviation (in % of traintime distance)
<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:

XALC,<Status>,<X>,<Y>,<Z>,<A>,<B>,<C>,<LCResult>,<LCJudge>

Field | Description
--- | ---
XALC | 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.
<LCResult> | The L-Check result
<LCJudge> | The L-Check judgement 1: Pass (OK) 0: Fail (NG)

#### SLMP

Send command (Input Block)

Offset | Value | Description
--- | --- | ---
VIB_Offset + 2 | 3013 | Command: XALC 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 | <LCResultMode> | Specifies how the L-Check result shall be returned: 1: The absolute runtime distance between the part features. 2: The deviation (difference) between runtime and traintime distance. 3: The relative deviation (in % of traintime distance)
VIB_Offset + 9 | <X> | The X-coordinate of the current position of the motion system
VIB_Offset + 11 | <Y> | The Y-coordinate of the current position of the motion system
VIB_Offset + 13 | <Z> | The Z-coordinate of the current position of the motion system
VIB_Offset + 15 | <A> | The Z-rotation of the current position of the motion system
VIB_Offset + 17 | <B> | The Y-rotation of the current position of the motion system
VIB_Offset + 19 | <C> | The X-rotation of the current position of the motion system

Receive Result (Output Block)

Offset | Value | Description
--- | --- | ---
VOB_Offset + 5 | 3013 | Command: XALC 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)
VOB_Offset + 19 | <LCResult> | The L-Check result.
VOB_Offset + 21 | <LCJudge> | The L-Check judgement result 1: Pass (OK) 0: Fail (NG)