### Train Robot Pose

TTR

Train the robot pick (or place) pose. A corresponding part pose must be trained using the TT command.

#### TCP/IP:

Command String:

TTR,<partID>,<X>,<Y>,<Z>,<A>,<B>,<C>

Field | Arguments
--- | ---
TTR | The command
<partID> | The part the pose shall be trained for. PartIDs depend on the recipe configuration.
<X> | The X-coordinate of the robot’s pick (or place) pose
<Y> | The Y-coordinate of the robot’s pick (or place) pose
<Z> | The Z-coordinate of the robot’s pick (or place) pose
<A> | The Z-rotation of the robot’s pick (or place) pose
<B> | The Y-rotation of the robot’s pick (or place) pose
<C> | The X-rotation of the robot’s pick (or place) pose

Result String:

TTR,<Status>

Field | Description
--- | ---
TTR | The command
<Status> | The result status 1: Success <=0: Fail

#### SLMP:

Send command (Input Block)

Offset | Value | Description
--- | --- | ---
VIB_Offset + 2 | 4011 | Command: TTR command ID
VIB_Offset + 3 | <partID> | Argument0: The part the pose shall be trained for. PartIDs depend on the recipe configuration.
VIB_Offset + 5 | <X> | Argument1: The X-coordinate of the robot’s pick (or place) pose
VIB_Offset + 7 | <Y> | Argument2: The Y-coordinate of the robot’s pick (or place) pose
VIB_Offset + 9 | <Z> | Argument3: The Z-coordinate of the robot’s pick (or place) pose
VIB_Offset + 11 | <A> | Argument4: The Z-rotation of the robot’s pick (or place) pose
VIB_Offset + 13 | <B> | Argument5: The Y-rotation of the robot’s pick (or place) pose
VIB_Offset + 15 | <C> | Argument6: The X-rotation of the robot’s pick (or place) pose

Receive Result (Output Block)

Offset | Value | Description
--- | --- | ---
VOB_Offset + 5 | 4011 | Command: TTR command ID
VOB_Offset + 6 | <Status> | The result Status: 1: Success <=0: Fail