NRC_RobotMoveJointSync(int vel,NRC_Position target, const NRC_SyncPosition& targetSync, int acc, int dec)

Robot external axis point-to-point motion

Type

int=>Robot external axis 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 external axes of the robot, as a percentage of the maximum speed of the external axes of the robot, parameter range: 0 < vel <= 100
target	NRC_Position	Robot body motion target position, see NRC_Position for details
targetSync	NRC_SyncPosition&	Robot external axis motion target position, see NRC_SyncPosition for details
acc	int	Robot external axis running acceleration, as a percentage of the maximum acceleration of each joint of the external axis of the robot, parameter range: 0 < acc <= 100
dec	int	Robot external axis running deceleration, as a percentage of the maximum deceleration of each joint of the external axis of the robot, parameter range: 0 < dec <= 100

Sample code

NRC_Position target2 =  { NRC_MCS, 320,0,580,3.14159,0,0};
NRC_SyncPosition synctarget2 = {NRC_ACS,0.5,1,1.5,2,2.5};
NRC_RobotMoveJointSync(50,target2, synctarget2,  50, 50);