Regarding the grating recognition, the tilted line will not affect the final result. The vision YAW only provide the start point. Once you can catch the first light by vision YAW, you will be ok. However, it could potentially affect cycle time if the vision YAW is way off from the optimal YAW (we may not get the good fit for the first time and need to repeat the alignment from the best YAW out of the first alignment trial).