You can use the hand-eye calibration commands if you have computed or trained the calibration positions on the motion system. You must perform a minimum of eleven calibration steps for the hand-eye calibration. The steps must include 9 translations in X and Y coordinates, and 2 rotation positions around the z-axis.
The hand-eye calibration requires the execution of three different commands. To perform the hand-eye calibration, run hand-eye calibration commands in the following sequence: