Create toolpath 3D for polishing for UR10

Hello everybody,
i am trying to create a 3D toolpath for a curved surface (for example polishing a car headlight).

  • First, i want to understand the difference from Remote tcp move and toolpath move.

-Second, when i have to define the “toolpath move in the program” it will ask me for the plane for a PCS. But this work only if the path is in 2D.
How can i program the robot to follow a 3D path?

Or i can slice the model in the CAD and put several path together, can this be an idea?

Need help, thank you very much!