Example 1 - Executing a remote TCP path

# Initialize with remote TCP (mode = 1) and constrain 6-DOF remote_tcp = p[-0.3909, -0.519, 0.295, 1.57, 0.0, 0.0] pcs = p[0.0, 0.0, 0.01, 0.0, 0.0, 0.0] mc_initialize(1, remote_tcp, doc = 6)

# Set the PCS Location mc_set_pcs(pcs)

waypoint1 = p[0.05, 0.1, 0.1, 0.0, 0.0, 0.0] waypoint2 = p[0.05, 0.05, 0.1, 0.0, 0.0, 0.0] circle_viapoint = p[0.075, 0.1, 0.1, 0.0, 0.0, 0.0] circle_endpoint = p[0.1, 0.05, 0.1, 0.0, 0.0, 0.0] acc_factor = 0.05 speed_factor = 0.25 blend_radius = 0.02

# Circular motion in constrained mode mode=1

# Add motions mc_add_linear(waypoint1, acc_factor, speed_factor, blend_radius) mc_add_linear(waypoint2, acc_factor, speed_factor, blend_radius) mc_add_circular(circle_viapoint, circle_endpoint, acc_factor, speed_factor, blend_radius, mode)

# Set different PCS for Subsequent motion pcs = p[0.0, 0.0, 0.02, 0.0, 0.0, 0.0] acc_factor = 0.1 speed_factor = 1.0

mc_set_pcs(pcs)

mc_add_path("/programs/myToolPathFile.nc", acc_factor, speed_factor, 0.0)

# Execute the motions mc_run_motion()