### Execute Pick or Place Alignment

XT

Locate the part and get the corrected robot pick (or place) pose.

#### TCP/IP:

Command String:

XT,<partID>,<resultMode>,<X>,<Y>,<Z>,<A>,<B>,<C>

Field | Arguments
--- | ---
XT | The command
<partID> | 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
<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.
<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:

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

Field | Description
--- | ---
XT | The command
<Status> | The result status 1: Success <=0: Fail
<X> | The X-coordinate (absolute or offset) of the corrected pick (or place) pose.
<Y> | The Y-coordinate (absolute or offset) of the corrected pick (or place) pose.
<Z> | The Z-coordinate (absolute or offset) of the corrected pick (or place) pose.
<A> | The Z-rotation (absolute or offset) of the corrected pick (or place) pose.
<B> | The Y-rotation (absolute or offset) of the corrected pick (or place) pose.
<C> | The X-rotation (absolute or offset) of the corrected pick (or place) pose.

#### SLMP

Send command (Input Block)

Offset | Value | Description
--- | --- | ---
VIB_Offset + 2 | 4012 | Command: XT command ID
VIB_Offset + 3 | <partID> | Argument 0: 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 | <X> | The X-coordinate of the current position of the motion system
VIB_Offset + 9 | <Y> | The Y-coordinate of the current position of the motion system
VIB_Offset + 11 | <Z> | The Z-coordinate of the current position of the motion system
VIB_Offset + 13 | <A> | The Z-rotation of the current position of the motion system
VIB_Offset + 15 | <B> | The Y-rotation of the current position of the motion system
VIB_Offset + 17 | <C> | The X-rotation of the current position of the motion system

Receive Result (Output Block)

Offset | Value | Description
--- | --- | ---
VOB_Offset + 5 | 4012 | Command: XT 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)