NRC_JobfileInsertPALGRIPPER(int line, int id, int tool)
Insert PALGRIPPER instruction into the job file
Before calling this function, please call NRC_CreateJobfile(std::string jobname) or NRC_OpenJobfile(std::string jobname) to create or open a job file
Type
int=>Insert PALGRIPPER instruction into the job file
| 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 |
|---|---|---|
| line | int | The line number where the instruction will be inserted, parameter range: 0 < line < (NRC_GetJobfileLineSum()+1) |
| id | int | The process number of the palletizing process, parameter range: 1 <= id <= 9 |
| tool | int | The number of the gripper to be replaced, parameter range: 1 <= id <= 4 |
Sample code
Refer to the NRC_JobfileInsertPALON example