NRC_RobotMoveJoint(int vel, const NRC_Position& target, int acc, int dec)

Robot point-to-point motion

The robot moves from the current position to the target position in a point-to-point manner at a velocity of vel

Before calling this function, please power on the servo by calling the NRC_ServoEnable() function

After this function is successfully called, the robot will start moving. Please pay attention to safety

Type

int=>Robot point-to-point motion

Return value	Description
0	The function is called successfully
-101	Invalid input parameter
-102	The target object does not exist. This typically occurs when the system initialization is incomplete, and calling other functions may return this value
-103	The target object is currently in an inoperable state

Parameter Option

Parameter	Type	Description
vel	int	The running speed of the robot, as the percentage of the maximum speed of the robot. Parameter range: 0 < vel <= 100
target	NRC_Position&	Robot motion target position
acc	int	Robot running acceleration, as a percentage of the maximum acceleration of each joint of the robot. Parameter range: 0 < acc <= 100
dec	int	Robot running deceleration, as a percentage of the maximum deceleration of each joint of the robot. Parameter range: 0 < dec <= 100

Sample code

NRC_Position target={NRC_ACS,10,10,10,10,10,10};
NRC_RobotMoveJoint(50, target, 50, 50);
//Perform a point-to-point movement to the target position with a velocity of 50%, acceleration of 50% , and deceleration of 50%