# Path Recording Example
### **HMI Panel File**
{% file src="" %}
### **Robot Program File**
```python
# Robot script file
recorded_points = 0
executed_points = 0
recording = False
executing = False
# list to store recorded waypoints
path = make_list(500, p[-0.190, -0.610, 0.261, -0.00, 3.12, 0.04])
# record function
def record():
freedrive_mode()
recording = True
recorded_points = 0
while recording and recorded_points < 500:
path[recorded_points] = get_actual_tcp_pose()
sleep(0.2)
recorded_points = recorded_points + 1
end
recording = False
end_freedrive_mode()
end
# play function
def execute():
executing = True
executed_points = 0
while executing and executed_points < recorded_points:
pose = path[recorded_points]
q = get_inverse_kin(pose)
# just an example using plain servo j command
# t parameter must be changed acordingly to real application scenario
servoj(q, t=0.2)
executed_points = executed_points + 1
end
executing = False
end
```
{% file src="" %}