## Multi-Step Commands

The multi-step commands apply when the part has two or more features that will be located in individual steps (e.g. shuttling position of camera or part). These commands use multiple steps to locate the features of a part using the LF command. When all features have been located using the LF command, the requested pose is computed using the GP command.

The following command set is used in multi-step configurations:

Command | Purpose | Configuration
--- | --- | ---
LF | Locates part features | All
TP | Registers a part’s golden pose | All
TPR | Register a motion pose associated with a part’s golden pose | Shuttling part AlignMode 2
GP | Returns the runtime result pose | All

Some MultiStep commands require an argument <AlignMode>. This argument specifies how the result pose will be computed:

AlignMode | Description
--- | ---
1 | Aligns the part with a trained golden pose (part attached to motion system)
2 | Aligns the motion system (e.g. robot gripper) with the part (part not attached to motion system)
3 | Tray mode. Corrects a trained tray pocket position based on the runtime tray position.

The following sections describe the MultiStep command usage in the various configurations.