# Motion Train Pose Command

In AlignToGripper applications, gripper's train-time pick pose needs to be registered to the vision system, so that during run time, this pose can be used as an input for the vision system to compute target poses for the gripper. Likewise, when golden pose mode is used, AssemblyGuidedPick and AssemblyGuidePlace applications needs to register gripper's train-time pick and place poses for run time pose computation.

## TTR

Registers gripper's pick or place pose for a VGR application. It should be called after TT commands finish running.

### Command String

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

Field | Arguments
--- | ---
<EncodedID> | EncodedID = StepID of feature finder task at last position + Process Tag(2000)
<X> | The X-coordinate of the robot’s pick (or place) pose
<Y> | The Y-coordinate of the robot’s pick (or place) pose
<Z> | 0 (not used)
<A> | The theta of the robot’s pick (or place) pose
<B> | 0 (not used)
<C> | 0 (not used)

### Result String

TTR,<Status>CR/LF

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