# Alignment Concept

Alignment refers to applications wherein a motion device such as a XYӨ stage or a gantry system is moved based upon the current position of work object(part) and comparing it to the part's trained position (golden pose) to align the object to desired pose.

In the example blow, Part A and Part B's positions are trained at their own stations during train time. In run time, both Part A and Part B align to their trained golden poses respectively and subsequently attached.

The vision system's task is to locate one or more features of the part that are used to calculate the part's pose (Translation and Rotation). Those features could be corner points, multiple edges, or registration marks/fiducials. By comparing the difference between run time and train time poses, the vision system calculates and communicates the necessary movements to the motion devices.