Initialize a new motion sequence.

This command must be called before every TCP motion sequence. The command resets the speed factor to 1 (see also mc_set_speed_factor), the Part Coordinate System to identity (see also mc_set_pcs), and the motion ID counter to 0. The command automatically turns on path divergence check if not in simulation mode.

Parameters

mode:

0: Initialize regular TCP motion.

1: Initialize remote TCP motion.

tcp:

If mode = 0, the regular TCP offset, i.e. the transformation from the output flange coordinate system to the TCP as a pose.

If mode = 1, the remote TCP offset, i.e. the transformation from the robot base to the remote TCP as a pose.

doc:

degree of constraints

6: Constrain all 6-Degree of Freedom (DOF) of the tool.

5: Constrain 5-DOF of the tool. The rotation about z-axis is not constrained.

Example command: mc_initialize(1, p[0, 0.2, 0.3, 0, 3.14, 0], doc=6)

• Example Parameters:
  • mode = 1 → remote TCP motion
  • tcp = p[0, 0.2, 0.3, 0, 3.14, 0] → tool center point is set to x = 0mm, y = 200mm, z = 300mm, rotation vector is rx = 0deg, ry = 180deg, rz = 0deg, in robot base coordinates.
  • doc = 6 → constrain 6-DOF