NRC_SetSyncJointNum(int syncGroupNum, std::vector<int> syncGroupType)
Set the number of robot external axes
Please set this parameter when the servo is stopped or in a ready state
After modification, you must restart the controller for the changes to take effect!!!
Type
int=>Set the number of robot external axes
| 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 |
|---|---|---|
| syncGroupNum | int | The number of external axis groups to be set, parameter range: 0 <= syncGroupNum <= 3 |
| syncGroupType | std::vector<int> | The type of each axis group of the external axis to be set, 1: single-axis positioner, 2: dual-axis positioner, 3: ground rail |
Sample code
int syncGroupNum = 2;
std::vector`<int>` syncGroupType={2,1,0};
NRC_SetSyncJointNum(syncGroupNum,syncGroupType);//Set the number of robot external axes