### Auto-Calibration Execute Step

AC

Execute AutoCalibration step.

#### TCP/IP:

Command String:

AC,<cam>,<featureID>,<X>,<Y>,<Z>,<A>,<B>,<C>

Field | Arguments
--- | ---
AC | The command
<cam> | The camera to calibrate 1: Camera 1 2: Camera 2
<featureID> | 1: Feature 1 2: Feature 2 … In a ShuttlingCamera configuration, Feature 2 calibrates for the 2nd shuttling position, i.e. calibrates the 2nd calibration
<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:

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

Field | Description
--- | ---
AC | The command
<Status> | The result status 1: Success, calibration done. 2: Success, move to returned position and execute next “AC” command <=0: Fail
<X> | The X coordinate of the next position to move to
<Y> | The Y coordinate of the next position to move to
<Z> | The Z coordinate of the next position to move to
<A> | The Z-rotation of the next position to move to
<B> | The Y-rotation of the next position to move to
<C> | The X-rotation of the next position to move to

#### SLMP

Send command (Input Block)

Offset | Value | Description
--- | --- | ---
VIB_Offset + 2 | 2031 | Command: AC command ID
VIB_Offset + 3 | <cam> | Argument0: The camera to be calibrated
VIB_Offset + 5 | <featureID> | Argument1: Selects the camera feature to be located for calibration: 1: Feature 1 2: Feature 2 … In a ShuttlingCamera configuration, Feature 2 calibrates for the 2nd shuttling position, i.e. calibrates the 2nd calibration
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 | 2031 | Command: AC command ID
VOB_Offset + 6 | <Status> | The result Status: 1: Success, calibration done 2: Success, move to returned position and execute “AC” command <=0: Fail
VOB_Offset + 7 | <X> | The X coordinate of the next position to move to
VOB_Offset + 9 | <Y> | The Y coordinate of the next position to move to
VOB_Offset + 11 | <Z> | The Z coordinate of the next position to move to
VOB_Offset + 13 | <A> | The Z-rotation of the next position to move to
VOB_Offset + 15 | <B> | The Y-rotation of the next position to move to
VOB_Offset + 17 | <C> | The X-rotation of the next position to move to