# General Calibration Commands

General calibrations are calibrations besides hand-eye calibration, such as cross calibration, manual calibration, or checkerboard calibration. General calibrations share the same calibration process and commands as displayed below: The external device will send one or more IC commands to the vision system depending on the number of acquisition positions that the calibration has. Execution mode for non-last acquisition position of the calibration should be set as Acquire Only and encoded in IC command. For the last acquisition position, the execution mode should be changed to Acquire and Process to acquire image, execute calibration computation, and end the calibration process.

## IC

IC stands for intrinsic calibration. It is used to trigger general calibration.

### Command String

IC,<EncodedID>,<X>,<Y>,<Z>,<A>,<B>,<C>

Field | Arguments
--- | ---
<EncodedID> | For non-last position: EncodedID = StepID of calibration task at current position + Acquire Tag(1000) For last position: EncodedID = StepID of calibration task at last position
<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> | 0 (not used)
<A> | The theta (in Degree) of the current position of the motion system
<B> | 0 (not used)
<C> | 0 (not used)

### Result String

IC,<Status>CR/LF

Field | Arguments
--- | ---
<Status> | The result status 1 : Success ErrorCode : Fail