# Export Command Strings

AlignPlus provides reference commands for the current application. This helps save user's time on command encoding. To export the reference commands, please click "Export Command Sequence Info" under "AlignPlus" menu and save the .txt file.

In the configuration example below, the task StepIDs are as follow:

The exported commands are:

//Group Name:Calibrate

//HandEye calibration

    HEB,2001

    HE,1,0,x,y,0,theta,0,0

    HEE,2001

//Auto calibration

    ACB,2001

    AC,1,0,x,y,0,theta,0,0

//cross calibration at position 0

    IC,1002,0,0,0,0,0,0

//cross calibration at position 1

    IC,1003,0,0,0,0,0,0

//cross calibration at position 2

    IC,4,0,0,0,0,0,0

//Group Name :Alignment0

//Feature golden pose training at position 1

    TA,1005

//Locate features at position 1

    LF,1005,productID,0,0,0,0,0,0,userString

//Feature golden pose training at position 2

    TA,6

//Locating feature and computing target pose

    LFGP,6,2007,productID,resultMode[Abs/Off],x,y,0,theta,0,0,userString

//Computing target pose

    GPA,2007,resultMode[Abs/Off],x,y,0,theta,0,0,userString

Note:

<X>, <Y>, <Theta> in IC, LF and LFGP commands should be replaced with real motion's current x, y, theta values.

The LF command at position 2 are merged with GP command as one LFGP command in reference commands, however, they could also be split into two commands and runs separately.

Here is an assembly guided pick application:

Here are the StepIDs for each task defined in CommandHandler:

The exported commands are:

//Group Name :Calibrate

//HandEye calibration

    HEB,2001

    HE,1,0,x,y,0,theta,0,0

    HEE,2001

//Auto calibration

    ACB,2001

    AC,1,0,x,y,0,theta,0,0

//cross calibration at position 0

    IC,1002,0,0,0,0,0,0

//cross calibration at position 1

    IC,3,0,0,0,0,0,0

//cross calibration at position 0

    IC,1004,0,0,0,0,0,0

//cross calibration at position 1

    IC,1005,0,0,0,0,0,0

//cross calibration at position 2

    IC,6,0,0,0,0,0,0

//Group Name :Alignment0

//Features0

//Feature golden pose training at position 0

    TA,1007

//Locate features at position 0

    LF,1007,productID,0,0,0,0,0,0,userString

//Feature golden pose training at position 1

    TA,8

//Locate features at position 1

    LF,8,productID,0,0,0,0,0,0,userString

//Features1

//Feature golden pose training at position 1

    TA,1009

//Locate features at position 1

    LF,1009,productID,0,0,0,0,0,0,userString

//Feature golden pose training at position 2

    TA,10

//Motion golden pose training

    TTR,10,x,y,0,theta,0,0

//Locating feature and computing target pose

    LFGP,10,2011,productID,resultMode[Abs/Off],x,y,0,theta,0,0,userString

//Computing target pose

    GPA,2011,resultMode[Abs/Off],x,y,0,theta,0,0,userString