NRC_RunqueueInsertMOVJEXT(int vel, int acc, int dec, const NRC_Position& target,const NRC_SyncPosition& targetSync, int pl = 0)

Insert MOVJEXT instruction into the run queue

Before calling this function, please call NRC_CreateNoFlieRunqueue() to create a fileless run queue

Type

int=>Insert MOVJEXT instruction into the run queue

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, expressed as a percentage of the maximum speed of the robot. Parameter range: 0 < vel <= 100
acc	int	Robot running acceleration, as a percentage of the maximum acceleration for each joint of the robot. Parameter range: 0 < acc <= 100
dec	int	Robot running deceleration, as a percentage of the maximum deceleration for each joint of the robot. Parameter range: 0 < dec <= 100
target	const NRC_Position&	Robot motion target position, see NRC_Position for details
targetSync	const NRC_SyncPosition&	External axis motion target position, see NRC_SyncPosition for details
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

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_RunqueueInsertMOVJEXT(20, 20,20, target2,targetSync2, 5);