# Command String Overview

Here is an overview of all commands in AlignPlus.

Command Type | Description | Command | Encode ID | Parameters | Return
--- | --- | --- | --- | --- | ---
Motion Guided Hand-eye Calibration | Hand-eye Calibration Start | HEB | ,<EncodedID>, EncodedID: Calib<StepID> | Process only | / | HEB,<Status> CR/LF Status : 1 : Success. 0 : Fail
Each Calibration Point | HE | ,<EncodedID>, EncodedID: Calib<StepID> | Acquire & Process | <TargetID>,<X>,<Y>,<Z>,<A>,<B>,<C> | HE,<Status> CR/LF Status : 1 : Success. 0 : Fail
Hand-eye Calibration End | HEE | ,<EncodedID>, EncodedID: Calib<StepID> | Process only | / | HEE,<Status> CR/LF Status : 1 : Success. 0 : Fail
Vision Guided Hand-eye Calibration | Hand-eye Calibration Start | ACB | ,<EncodedID>, EncodedID: Calib<StepID> | Process only | <TargetID>,<X>,<Y>,<Z>,<A>,<B>,<C> | ACB,<Status>, <X>,<Y>,<Z>,<A>,<B>,<C> CR/LF Status : 2 : Target was found, return next position 0 : Fail (Target position was not found.)
Each Calibration Point | AC | ,<EncodedID>, EncodedID: Calib<StepID> | Acquire & Process | <TargetID>,<X>,<Y>,<Z>,<A>,<B>,<C> | AC,<Status>, <X>,<Y>,<Z>,<A>,<B>,<C> CR/LF Status : 2 : Success, return the next position 1 : Success, calibration done. 0 : Fail
Cross Calibration | Calib at first position | IC | ,<EncodedID>, EncodedID: CrossPos0<StepID> | Acquire only | <X>,<Y>,<Z>,<A>,<B>,<C> | IC,<Status>,< PartID > CR/LF Status : 1 : Success ; <= 0 : Fail
Calib at second position | IC | ,<EncodedID>, EncodedID: CrossPos1<StepID> | Acquire only | <X>,<Y>,<Z>,<A>,<B>,<C> | IC,<Status>,< PartID > CR/LF Status : 1 : Success ; <= 0 : Fail
Calib at last position | IC | ,<EncodedID>, EncodedID: CrossPos N<StepID> | Acquire & Process | <X>,<Y>,<Z>,<A>,<B>,<C> | IC,<Status>,< PartID > CR/LF Status : 1 : Success ; <= 0 : Fail
Training Pattern&Pose GoldenPose | Train pattern image at non-last position | TA | ,<EncodedID>, EncodedID: Pos0<StepID> | Acquire only | / | TA,<Status> CR/LF Status : 1 : Success <= 0 : Fail
Train pattern image at last position | TA | ,<EncodedID>, EncodedID: Pos1<StepID> | Acquire & Process | / | TA,<Status> CR/LF Status : 1 : Success <= 0 : Fail
Training Pattern&Pose AlignToGripper VGR | Train 1st pattern image | TT | ,<EncodedID>, EncodedID: Pos0<StepID> | Acquire only | <X>,<Y>,<Z>,<A>,<B>,<C> | TT,<Status>CR/LF Status : 1 : Success <= 0 : Fail
Train 2nd pattern image | TT | ,<EncodedID>, EncodedID: Pos1<StepID> | Acquire & Process | <X>,<Y>,<Z>,<A>,<B>,<C> | TT,<Status>CR/LF Status : 1 : Success <= 0 : Fail
Record golden pose of Robot | TTR | ,<EncodedID>, EncodedID: Pos1<StepID> | Process | <X>,<Y>,<Z>,<A>,<B>,<C> | TTR,<Status>CR/LF Status : 1 : Success <= 0 : Fail
Alignment Sync Mode | Find Feature in Position1 | LF | ,<EncodedID>, EncodedID: Pos0<StepID> | Acquire only | <PartID>,<X>,<Y>,<Z>,<A>,<B>,<C>[,<UserString>] | LF,<Status>, <Token>,<PartID > CR/LF Status : 1 : Success <= 0 : Fail
Find Feature in Position2 | LF | ,<EncodedID>, EncodedID: Pos1<StepID> | Acquire & Process | <PartID>,<X>,<Y>,<Z>,<A>,<B>,<C>[,<UserString>] | LF,<Status>, <Token>,<PartID > CR/LF Status : 1 : Success <= 0 : Fail
Compute delta pose | GP | ,<EncodedID>, EncodedID: Pose Computer <StepID> | Process only | <PartID>,<ResultMode>,<X>,<Y>,<Z>,<A>,<B>,<C> | GP,<Status> ,<Token>,< PartID >, <X>,<Y>,<Z>,<A>,<B>,<C> CR/LF Status : 1 : Success <= 0 : Fail
Compute poses for multi-part pickup | MGP | ,<EncodedID>, EncodedID: Pose Computer <StepID> | Process only | <PartID>,<StatusOnly>,<ResultMode>,<X>,<Y>,<Z>, <A>,<B>,<C>,<UserString>,<MainIndex>[,<Index2>]...[,<IndexN>] | MGP,<Status>,<Token>,<PartID>,<ResultCount>, <Status1>,<X1>,<Y1>,<T1>[,<Status2>][,<X2>][,<Y2>][,<T2>]...[,<StatusN>][,<Xn>][,<Yn>][,<Tn>]CR/LF Status : 1 : Success <= 0 : Fail
Measure or gauge | MEA | ,<EncodedID>, EncodedID: Inspection task <StepID> | Process only | <PartID>,<RequestData>[,<UserString>] | MEA,<Status>,<Token>,<PartID>,<ResultStatus>, <DataCount>,[<Data1>,][<Data1>,] ...[<DataN>,] CR/LF Status : 1 : Success <= 0 : Fail
Alignment Async Mode | Find Feature in Position1 | LFA | ,<EncodedID>, EncodedID: Pos0<StepID> | Acquire only | <PartID>,<X>,<Y>,<Z>,<A>,<B>,<C>[,<UserString>] | LFA,<Status>, <Token>,<PartID > CR/LF Status : 1 : Success <= 0 : Fail
Find Feature in Position2 | LFA | ,<EncodedID>, EncodedID: Pos1<StepID> | Acquire & Process | <PartID>,<X>,<Y>,<Z>,<A>,<B>,<C>[,<UserString>] | LFA,<Status>, <Token>,<PartID > CR/LF Status : 1 : Success <= 0 : Fail
Compute delta pose | GPA | ,<EncodedID>, EncodedID: Pose Computer <StepID> | Process only | <PartID>,<ResultMode>,<X>,<Y>,<Z>,<A>,<B>,<C> | GP,<Status> ,<Token>,< PartID >, <X>,<Y>,<Z>,<A>,<B>,<C> CR/LF Status : 1 : Success <= 0 : Fail
Compute poses for multi-part pickup | MGPA | ,<EncodedID>, EncodedID: Pose Computer <StepID> | Process only | <PartID>,<StatusOnly>,<ResultMode>,<X>,<Y>,<Z>, <A>,<B>,<C>,<UserString>,<MainIndex>[,<Index2>]...[,<IndexN>] | MGPA,<Status>,<Token>,<PartID>,<ResultCount>, <Status1>,<X1>,<Y1>,<T1>[,<Status2>][,<X2>][,<Y2>][,<T2>]...[,<StatusN>][,<Xn>][,<Yn>][,<Tn>]CR/LF Status : 1 : Success <= 0 : Fail
Measure or gauge | MEAA | ,<EncodedID>, EncodedID: Inspection task <StepID> | Process only | <PartID>,<RequestData>[,<UserString>] | MEAA,<Status>,<Token>,<PartID>,<ResultStatus>, <DataCount>,[<Data1>,][<Data1>,] ...[<DataN>,] CR/LF Status : 1 : Success <= 0 : Fail
Alignment One-step Command | Find Feature in Last Position and Compute delta pose for single part | LFGP | ,<EncodedID0>,<EncodedID1>, EncodedID0: Find Feature last Position<StepID>|Acqure & Process EncodedID1: Pose Computer<StepID>| Process only | <PartID>,<ResultMode>,<X>,<Y>,<Z>,<A>,<B>,<C>[,<UserString>] | LFGP,<Status>,<Token>,<PartID >, <X>,<Y>,<Z>,<A>,<B>,<C> CR/LF Status : 1 : Success <= 0 : Fail
Find Feature in Last Position and Compute delta pose for multiple parts pickup | LFMGP | ,<EncodedID0>,<EncodedID1>, EncodedID0: Find Feature last Position<StepID>|Acqure & Process EncodedID1: Pose Computer<StepID>| Process only | LFMGP,<EncodedID1>,<ProductID2>,<StatusOnly>,<ResultMode>, <X>,<Y>,<Z>,<A>,<B>,<C>,<UserString>,<MainIndex>[,<Index2>]...[,<IndexN>] | LFMGP,<Status>,<Token>,<PartID>,<ResultCount>, <Status1>,<X1>,<Y1>,<T1>[,<Status2>][,<X2>][,<Y2>][,<T2>]...[,<StatusN>][,<Xn>][,<Yn>][,<Tn>]CR/LF Status : 1 : Success <= 0 : Fail
Find Feature in Last Position and run measurement/gauging | LFMEA | ,<EncodedID0>,<EncodedID1>, EncodedID0: Find Feature last Position<StepID>|Acqure & Process EncodedID1: Inspection task<StepID>| Process only | <PartID>,<RequestData>,<X>,<Y>,<Z>,<A>,<B>,<C>[,<UserString>] | LFMEA,<Status>,<Token>,<PartID>,<ResultStatus>[,<DataCount>] [,<Data1>] [,<Data2>]... [,<DataN>]CR/LF Status : 1 : Success <= 0 : Fail