Set the Part Coordinate System (PCS).

This command sets the PCS either in robot base coordinates (if called after mc_initialize with mode = 0) or in tool flange coordinates (if called after mc_initialize with mode = 1). Subsequent poses/paths of motions will be relative to this PCS.

Parameters

pcs: The part coordinate system as a pose.

Example command: mc_set_pcs(p[0, 0.2, 0.3, 0, 3.14, 0])

• Example Parameters:
  • pcs = p[0, 0.2, 0.3, 0, 3.14, 0] → part coordinate system is set to x = 0mm, y = 200mm, z = 300mm, rotation vector is rx = 0deg, ry = 180deg, rz = 0deg.