### Train Motion Pose

TPR

Trains the motion pose that corresponds to the feature poses that were trained by the TP command.

This command is required for shuttling part configurations or for AlignMode 2 applications.

#### TCP/IP

Command String:

TPR,<PartID>,<AlignMode>,<X>,<Y>,<Z>,<A>,<B>,<C>

Field | Arguments
--- | ---
TPR | The command
PartID | Selects the part to train the pose for. The PartID depends on the recipe configuration.
<AlignMode> | The AlignMode (1 or 2)
<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:

TPR, <Status>

#### SLMP:

Send command (Input Block)

Offset | Value | Description
--- | --- | ---
VIB_Offset + 2 | 5013 | Command: TPR command ID
VIB_Offset + 3 | <PartID> | Argument0: Selects the part to train the pose for. The PartID depends on the recipe configuration.
VIB_Offset + 5 | <AlignMode> | Argument1: 1 or 2
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 | 5013 | Command: TPR command ID
VOB_Offset + 6 | <Status> | The result Status: 1: Success <=0: Fail

Example of TPR, LF, and TP Commands with shuttling part configuration

1. Part is attached to stage.

2. Move stage to bring part in golden pose.

3. Run TPR,1,1,<motion pose> command.

4. Move stage to bring first feature in camera field of view.

5. Run LF,1,0,0,<motion pose> command. This locates the 1st feature.

6. Move second feature in camera field of view.

7. Run LF,2,0,0,<motion pose> command. This locates the 2nd feature.

8. Run TP,1,1 command. This registers the previously located feature poses as golden poses, in conjunction with the motion pose provided with TPR command.