NRC_JobfileInsertPALREAL(int line, int id, int moveType, int vel, int acc, int dec, int pl)
Insert PALREAL 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 PALREAL 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 |
| moveType | int | Interpolation method used by this instruction; 1: Joint interpolation; 2: Linear interpolation; 3: Circular interpolation |
| vel | int | The running speed of the robot; when the interpolation method is joint interpolation, it is the percentage of the maximum speed of the robot, parameter range: 0 < vel <= 100; when the interpolation method is linear interpolation or circular interpolation, it is the absolute running speed of the robot TCP, the unit is mm/s, parameter range: vel > 1 |
| acc | int | Robot running acceleration, parameter range: 0 < acc <= 100; when the interpolation method is joint interpolation, it is the percentage of the maximum acceleration of each joint of the robot; when the interpolation method is linear interpolation or circular interpolation, it is the percentage of the robot's maximum Cartesian acceleration |
| dec | int | Robot running deceleration, parameter range: 0 < dec <= 100; when the interpolation method is joint interpolation, it is the percentage of the maximum deceleration of each joint of the robot; when the interpolation method is linear interpolation or circular interpolation, it is the percentage of the robot's maximum Cartesian deceleration |
| pl | int | Smoothness, which refers to the smooth transition between the current and the next movement instructions. The higher the value of pl, the smoother the transition, but the greater the trajectory deviation. The range of the parameter is 0 <= pl <= 5 |
Sample code
Refer to the NRC_JobfileInsertPALON example