The MRIL post processor (MRCL.py) is used to export a program to static machine code. The driver (driver.py) is used to dynamically/online control a connected robot by sending the MRIL instructions via serial to the MRC controller.

Place the post processor (MRCL.py) in the post directory of RobotDK. On MacOS it is: To invoke the post right click on the program in RoboDK and select CreateProgram then chose the MRCL post.

Place the driver in a directory of your choice. E.g. :

Right click/connect to start a connection. On the left a panel with connection information should open.

Enter the path to the driver at API path.
Enter the COM port of your Teensy under Robot IP/COM
Click Connect.
Click Move Joints (P2P) or Move Linear (LINEAR) to send the movement commands to the robot.