### Train Part Pose

TT

Train the part pose. A corresponding robot pose (pick or place) must be trained using the TTR command

#### TCP/IP:

Command String:

TT,<partID>,<X>,<Y>,<Z>,<A>,<B>,<C>

Field | Arguments
--- | ---
TT | The command
<partID> | The part the pose shall be trained for. PartIDs depend on the recipe configuration.
<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:

TT,<Status>

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

#### SLMP:

Send command (Input Block)

Offset | Value | Description
--- | --- | ---
VIB_Offset + 2 | 4010 | Command: TT command ID
VIB_Offset + 3 | <partID> | Argument0: The part the pose shall be trained for. PartIDs depend on the recipe configuration.
VIB_Offset + 5 | <X> | The X-coordinate of the current position of the motion system
VIB_Offset + 7 | <Y> | The Y-coordinate of the current position of the motion system
VIB_Offset + 9 | <Z> | The Z-coordinate of the current position of the motion system
VIB_Offset + 11 | <A> | The Z-rotation of the current position of the motion system
VIB_Offset + 13 | <B> | The Y-rotation of the current position of the motion system
VIB_Offset + 15 | <C> | The X-rotation of the current position of the motion system

Receive Result (Output Block)

Offset | Value | Description
--- | --- | ---
VOB_Offset + 5 | 4010 | Command: TT command ID
VOB_Offset + 6 | <Status> | The result Status: 1: Success <=0: Fail