# Motion Guided Hand-eye Calibration Commands

In motion guided hand-eye calibration, the motion system is responsible for initializing a hand-eye calibration, computing the next target pose and triggering the vision system after stage finishes moving to the target pose, and ending the hand-eye calibration when all poses are run through. Whereas the vision system acts in response to the motion system's commands.

## HEB

HEB stands for hand-eye calibration begins, it initiates a motion guided hand-eye calibration.

### Command String

HEB,<EncodedID>

Field | Arguments
--- | ---
<EncodedID> | EncodedID = StepID of hand-eye calibration task + Process Tag(2000)

### Result String

HEB,<Status>CR/LF

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

## HE

Executes a hand-eye calibration task to acquire images and accumulate extracted features of calibration target at a certain stage pose.

### Command String

HE,<EncodedID>,<TargetID>,<X>,<Y>,<Z>,<A>,<B>,<C>

Field | Description
--- | ---
<EncodedID> | EncodedID = StepID of hand-eye calibration task
<TargetID> | 0 (not used)
<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

HE,<Status>CR/LF

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

## HEE

HEE stands for hand-eye calibration end. It triggers the vision system to compute the hand-eye calibration results based on the data collected in the previous “HE” steps.

### Command String

HEE,<EncodedID>

Field | Arguments
--- | ---
<EncodedID> | EncodedID = StepID of hand-eye calibration task + Process Tag(2000)

### Result String

HEE,<Status>CR/LF

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