Hand-Eye Execute Step (HE)

HE

Executes a hand-eye calibration step.

Hand-Eye Execute Step (HE) Inputs

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

Field Description
HE The command.
CamID

The cameras to be calibrated:

  • 0: All available cameras.

    Note: Only one-camera configurations are supported for vision-guided robotics applications. Setting the value of the CamID parameter to 0 has the same result as setting it to 1.
  • 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 motion system.
Y The Y coordinate of the current position of the motion system.
Z The Z coordinate of the current position of the motion system.
A The Z rotation of the current position of the motion system.
B The Y rotation of the current position of the motion system.
C The X rotation of the current position of the motion system.

Hand-Eye Execute Step (HE) Outputs

Response String Syntax: HE,<Status>

Field Description

HE

The command.
Status

The result status:

  • 1: Success.
  • <=0: Fail.