Execute Pick or Place Alignment (XT)

Locates the part and gets the corrected robot pick or place pose.

Execute Pick or Place Alignment (XT) Inputs

Command String Syntax: XT,<PartID>,<ResultMode>,<X>,<Y>,<Z>,<A>,<B>,<C>

Field Description
XT The command.
PartID The ID of the part to be located.
ResultMode

Specifies how the result is returned:

  • Abs: Returns the absolute robot position to pick or place the part.
  • Off: Returns the offset from the trained robot position (see the TTR command) to pick or place the part.
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.

Execute Pick or Place Alignment (XT) Outputs

Response String Syntax: XT,<Status>,<X>,<Y>,<Z>,<A>,<B>,<C>

Field Description

XT

The command.
Status

The result status:

  • 1: Success.
  • <=0: Fail.
X The absolute or offset X coordinate of the corrected pick or place pose.
Y The absolute or offset Y coordinate of the corrected pick or place pose.
Z The absolute or offset Z coordinate of the corrected pick or place pose.
A The absolute or offset Z rotation of the corrected pick or place pose.
B The absolute or offset Y rotation of the corrected pick or place pose.
C The absolute or offset X rotation of the corrected pick or place pose.