### Locate Features

LF

Locates the features of a part and stores the feature poses in the internal feature table.
Which features to be located is specified with the StepID argument.

#### TCP/IP:

Command String:

LF,<StepID>,<ProductID>,<X>,<Y>,<Z>,<A>,<B>,<C>

Field | Arguments
--- | ---
LF | The command
<StepID> | Selects the step to execute. Which features are to be located in a specific step depends on the recipe configuration.
<ProductID> | Ignored (always 0)
<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

The motion pose is required for the shuttling part configuration or for robot mounted camera. It will be ignored in the other cases.

Result String:

Response: LF, <Status>, <Token>, <ProductID>

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

The <Token> and <ProductID> results can be ignored.

#### SLMP:

Send command (Input Block)

Offset | Value | Description
--- | --- | ---
VIB_Offset + 2 | 5011 | Command: LF command ID
VIB_Offset + 3 | <StepID> | Argument 0: Selects the step to execute. Which features are to be located in a specific step depends on the recipe configuration.
VIB_Offset + 5 | <ProductID> | Argument1: Ignored (always 0)
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 | 5011 | Command: LF command ID
VOB_Offset + 7 | <Status> | The result Status: 1: Success <=0: Fail
VOB_Offset + 9 | <Token> | Can be ignored
VOB_Offset + 11 | <ProductID> | Can be ignored