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PolyScope 5 Software Handbook
Robot User Manuals
Script Directory
Introduction
Connecting to URControl
Numbers, Variables, and Types
Lists and Structs
Matrix and Array Expressions
Flow of Control
Function
Remote Procedure Call (RPC)
Scoping rules
Threads
Program Label
Secondary Programs
Interpreter Mode
Motion Version
Module motion
Module internals
Module urmath
Module interfaces
Module ioconfiguration
Module processpath
This module contains Remote TCP and toolpath APIs.
mc_add_circular(pose_via, pose_to, a, v, r, mode=0)
mc_add_linear(pose, a, v, r)
mc_add_path(path_id, a, v, r)
mc_get_target_rtcp_speed()
mc_initialize(mode, tcp, doc=6)
mc_load_path(nc_file, useFeedRate)
mc_run_motion(id=-1)
mc_set_pcs(pcs)
mc_set_speed_factor(s)
Examples
Example 1 - Executing a remote TCP path
Example 2 - Executing a regular TCP path using 5-DOF
Example 3 - Executing a path and set digital output
myToolPathFile.nc
Flexible Ethernet/IP Adapter
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Examples
Examples on using the Remote TCP and Toolpath Application.