Execute Pick or Place Aligment with Score (XTS)

Locates the part, gets the corrected robot pick or place pose, and the score of the feature.

Execute Pick or Place Aligment with Score (XTS) Inputs

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

Field Description
XTS The command.
PartID The ID of the part for which the pose is trained.
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 Aligment with Score (XTS) Outputs

Response String Syntax: XTS,<Status>,<X>,<Y>,<Z>,<A>,<B>,<C>,<Score>,<Score2>

Field Description

XTS

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.
Score The current score of the target.
Score2 The current score of the second feature. Only applies to parts that have two features.