### Execute Pick or Place 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)

### XTLC

Locate the part and get the corrected robot pick (or place) pose and the L-Check result

Version 3.1 and higher

#### TCP/IP:

Command String:

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

Field | Arguments
--- | ---
XTLC | 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: Returns the absolute robot position to properly pick/place the part. Off: Return the Offset from the trained robot position (see TTR command) to properly pick/place the part. Frame: Returns the frame correction in Tray applications. GC: Returns the GripCorrect offset (Grip correct camera) GCP: Returns the corrected place position with GripCorrect value applied.
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:

XTLC,<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 | 4014 | Command:XTLC command ID
VIB_Offset + 3 | <partID> | Argument0: The part to be located. PartIDs depend on the recipe configuration. For GCP result mode Bit 0..3 specifies the part to be located, Bit 4..7 specifies the ID of the part located with the GripCorrect camera, i.e. this PartID must be multiplied with 16: PartID = PlacePartID + 16 * GripCorrectPartID
VIB_Offset + 5 | <resultMode> | Argument1: The requested result mode: 1: Absolute 2: Offset 3: Frame 5: GC 6: GCP
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 | 4014 | Command: XTLC 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 LC result
VOB_Offset + 21 | <LCJudge> | The L-Check judgement result 1: Pass (OK) 0: Fail (NG)