# Golden Pose Training Commands

Golden pose training is a necessary process before run time feature finding for alignment applications and assembly applications where golden pose mode is used. Depending on whether the gripper's pick or place pose should be registered at the same time or not, TT or TA command can be used to train golden pose.

## TA

Trains golden pose for target feature finding task. The external device should send one or more TA commands depending on the number of acquisition position of the feature finding task. At non-last acquisition positions, the execution mode should be set as Acquire Only and encoded in the TA commands; at the last acquisition position, the execution mode should be changed to Acquire and Process instead to acquire the last set of images and execute the feature extraction.

### Command String

TA,<EncodedID>

Field | Arguments
--- | ---
<EncodedID> | For non-last position: EncodedID = StepID of feature finder task at current position + Acquire Tag(1000) For last position: EncodedID = StepID of feature finder task at last position

### Result String

TA,<Status>CR/LF

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

Note: Before vision tools in features finder are configured, TA commands can be used to trigger image acquisition only.

## TT

Trains golden pose and registers the target feature for VGR(Vision Guide Robot) application. Similar with TA command, one or more TT commands should be sent to the vision system to finish all the image acquisition and then process feature finding at the last position. After all TT commands finish running, a TTR command should be followed to register the robot's pick or place pose.

### Command String

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

Field | Arguments
--- | ---
<EncodedID> | For non-last position: EncodedID = StepID of feature finder task at current position + Acquire Tag(1000) For last position: EncodedID = StepID of feature finder 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 degrees) of the current position of the motion system
<B> | 0 (not used)
<C> | 0 (not used)

### Result String

TT,<Status>CR/LF

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