Auto-Calibration Execute Step (AC)

Executes an Auto-Calibration step.

Auto-Calibration Execute Step (AC) Inputs

Command String Syntax: AC,<CamID>,<PartID>,<X>,<Y>,<Z>,<A>,<B>,<C>

Field Description
AC The command.
CamID

The camera to be calibrated:

  • 1: Camera 1 only.
PartID The ID of the part used for hand-eye calibration. If multiple features are defined on the part, the first feature is used.
X The X coordinate of the current position of the robot.
Y The Y coordinate of the current position of the robot.
Z The Z coordinate of the current position of the robot.
A The Z rotation of the current position of the robot.
B The Y rotation of the current position of the robot.
C The X rotation of the current position of the robot.

Auto-Calibration Execute Step (AC) Outputs

(Undefined variable: Local.Syntax)AC,<Status>,<X>,<Y>,<Z>,<A>,<B>,<C>

Field Description

AC

The command.
Status

The result status:

  • 2: Success, move to the returned position and execute the next AC command.
  • 1: Success, Auto-Calibration done.
  • <=0: Fail.
X The X coordinate of the next position to move to.
Y The Y coordinate of the next position to move to.
Z The Z coordinate of the next position to move to.
A The Z rotation of the next position to move to.
B The Y rotation of the next position to move to.
C The X rotation of the next position to move to.