Controller Secondary Development

Introduction

Controller secondary development is based on the interfaces provided by the controller. The program runs inside the controller, making it suitable for developing dedicated processes.

Document Structure

Controller
├── Quick Start                    # Environment setup, project build, program deployment
├── Secondary Development API (Robot Basic Parameters)   # Core interfaces: system/servo/coordinate system/IO/variables
├── Secondary Development API (Job Files, Instructions)   # Job file management, instruction insertion, queue execution
├── Secondary Development API (Palletizing Process)            # Palletizing process parameter settings and control
└── Examples
    ├── Custom Instructions
    │   ├── Controller Implementation                  # Controller-side custom instruction development
    │   └── Teach Pendant Implementation                  # Teach pendant-side custom UI development
    └── Custom Instruction Demo.md              # Example download instructions

Function Index

System and Initialization

Function	Description
NRC_StartController	Start controller
NRC_GetControlInitComplete	Wait for initialization to complete
NRC_SetOperationMode	Set operation mode (Teach 0 / Remote 1 / Run 2)
NRC_RebootController	Reboot controller
NRC_RestoreFactorySettings	Restore factory settings
NRC_ModifyControllerIP	Modify controller IP
NRC_ShieldedTeachingPendant	Disable teach pendant connection detection (must be called before startup)
NRC_GetRobotSum	Get robot count
NRC_SetRobotMode	Set multi-robot mode
NRC_Delayms	Delay (milliseconds)
NRC_LogInfo	Print log
NRC_GetNexMotionLibVersion	Get library version
NRC_GetSyncVersion	Get sync version number

Servo Control

Function	Description
NRC_PowerOn / NRC_PowerOff	Servo power on/off
NRC_ServoEnable / NRC_ServoDisable	Teach mode power on/off (requires deadman switch)
NRC_SetServoReadyStatus	Switch servo ready status
NRC_GetServoStatus	Get servo status (0-disabled 1-ready 2-alarm 3-enabled)
NRC_GetPowerOffSaveSignal	Get power status
NRC_ClearServoError / NRC_ClearAllError	Clear servo/all errors

Motion Control

Function	Description
NRC_RobotMoveJoint	Robot point-to-point motion
NRC_RobotMoveJointSync	Robot external axis point-to-point motion
NRC_RobotMoveLineSync	Robot linear motion (body + external axis)
NRC_JogMove / NRC_JogMoveStop / NRC_JogMoveStopAll	Jog control
NRC_StartResetPoint	Return to reset point
NRC_SetTargetVelocity	Set target velocity (PV mode)
NRC_PosReachable	Check if point is reachable

Speed Control

Function	Description
NRC_SetTeachRunSpeedPer / NRC_GetTeachRunSpeedPer	Teach speed percentage
NRC_SetAutoRunSpeedPer / NRC_GetAutoRunSpeedPer	Auto speed percentage
NRC_SetTeachMaxStepSpeed / NRC_GetTeachMaxStepSpeed	Teach max single-step speed
NRC_GetAngularVel	Get joint angular velocity (rad/s)
NRC_GetLinerVel	Get linear velocity (mm/s)
NRC_GetAxisVelSync	Get external axis velocity

Jog Configuration

Function	Description
NRC_SetJogJointSpeedConfig / NRC_GetJogJointSpeedConfig	Jog joint speed
NRC_SetJogRectangularSpeedConfig / NRC_GetJogRectangularSpeedConfig	Jog Cartesian speed
NRC_SetJogSensitivitySpeedConfig	Jog sensitivity
NRC_SetJogMoveCalculateNum	Jog interpolation point count

Coordinate System and Calibration

Function	Description
NRC_SetCurrentCoord / NRC_GetCurrentCoord	Switch/get current coordinate system
NRC_PositionACStoMCS / NRC_PositionMCStoACS	Joint <-> Cartesian coordinate conversion
NRC_TcpCalculate	TCP fixed distance offset calculation

Tool:

Function	Description
NRC_SetToolCoordParm / NRC_GetToolCoordParm	Set/get tool parameters
NRC_CalibrationToolCoord_7Pos	7-point/6-point calibration
NRC_CalibrationToolCoord_2Pos_SetPos / _Cacl / _Save	2-point calibration (three steps)
NRC_SwitchToolCoord / NRC_GetCurrentToolCoord	Switch/get current tool

User Coordinate:

Function	Description
NRC_SetUserCoordParm / NRC_GetUserCoordParm	Set/get user coordinate parameters
NRC_CalibrationUserCoord	User coordinate calibration (3-point method)
NRC_SwitchUserCoord / NRC_GetCurrentUserCoord	Switch/get current user coordinate

Position and Zero Point

Function	Description
NRC_GetCurrentPos / NRC_Rbt_GetCurrentPos	Get current position
NRC_GetOtherToolPos	Get position under other tool coordinate system
NRC_GetEncoderPosition	Get encoder position
NRC_SetCurrentPosToZeroPos / NRC_Rbt_SetCurrentPosToZeroPos	Set zero point/clear multi-turn value
NRC_Rbt_SetSingleCircleValue / NRC_Rbt_GetSingleCircleValue	Set/get single-turn value

External Axis

Function	Description
NRC_SetSyncJointNum	Set external axis count
NRC_SetSyncJointPara / NRC_GetSyncJointPara	Set/get external axis parameters
NRC_SetSyncGroupCarbinarion / NRC_CalSyncCalibrationResult	External axis calibration
NRC_SetCurrentSyncPosToZeroPos	External axis zero point setting
NRC_SingleSyncAxisMoveJConstVel_For_CustomInstructionCB	External axis constant velocity motion
NRC_GetCurrentSyncPos / NRC_Rbt_GetCurrentSyncPos	Get external axis position

Torque and Dynamics

Function	Description
NRC_SetTargetTorque / NRC_GetActualTorque	Set/get torque
NRC_GetActualCurrent / NRC_GetMaxCurrent	Current control
NRC_GetRatedTorque / NRC_GetTorq	Rated torque
NRC_SetIdentityParam	Set dynamics identification parameters
NRC_RunSafeCheckProgram / NRC_RunIdentifyProgram	Safety check/dynamics identification
NRC_SetCollisionParam / NRC_SetCollisionSwitch	Collision detection

Job File Operations

Function	Description
NRC_CreateJobfile / NRC_OpenJobfile / NRC_DeleteJobfile	Job file CRUD
NRC_JudgeJobIsExist	Check if job file exists
NRC_GetJobfileLineSum	Get job file total line count
NRC_StartRunJobfile / NRC_PauseRunJobfile / NRC_StopRunJobfile	Run/pause/stop
NRC_StepRunJobfile	Single-step run
NRC_StopRunJobfileNotPoweroff	Stop (without power off)

Job File Insert Instructions:

Function	Description
NRC_JobfileInsertMOVJ / MOVL / MOVS / MOVC / IMOV	Insert motion instructions
NRC_JobfileInsertMOVJEXT / MOVLEXT / MOVCEXT	Insert motion instructions with external axis
NRC_JobfileInsertDOUT / WAIT / TIMER / UNTIL	Insert IO/wait instructions
NRC_JobfileInsertIF / VarIF / ELSE / ENDIF	Insert conditional statements
NRC_JobfileInsertWHILE / VarWHILE / ENDWHILE	Insert loops
NRC_JobfileInsertSETVAR / OPCmd	Insert variable operations
NRC_JobfileInsertPALON / PALOFF / PALGRIPPER ...	Insert palletizing instructions
NRC_JobfileInsertARCON / ARCOFF	Insert welding instructions
NRC_JobfileInsertCustomInstruction	Insert custom instruction
NRC_JobfileInsertPOSCALALL	Insert position bulk modify instruction

File-less Run Queue

Function	Description
NRC_CreateNoFlieRunqueue	Create file-less queue
NRC_InsertNoFlieRunqueue	Insert a set of instructions
NRC_StartRunNoFlieRunqueue / Pause / Stop	Run/pause/stop
NRC_RunqueueInsertMOVJ / MOVL / ...	Insert various instructions (same as job file)

Append Run Mode

Function	Description
NRC_OpenInstrAppendRunMode / NRC_CloseInstrAppendRunMode	Enable/disable append mode
NRC_AppendRunInstr	Append run instruction
NRC_PauseInstrAppendRun / NRC_RestartInstrAppendRun	Pause/restart
NRC_StopInstrAppendRun / NRC_StopInstrAppendRunNotPoweroff	Stop (with/without power off)
NRC_GetIsInstrAppendRunMode	Whether in append mode
NRC_GetRestAppendInstrNum	Remaining instruction count

Local Background Program

Function	Description
NRC_CreatePthreadJobfile / NRC_OpenPthreadJobfile	Create/open background program
NRC_DeletePthreadJobfile / NRC_JudgePthreadJobIsExist	Delete/check existence
NRC_JobfileInsertPthreadStart / PthreadEnd	Insert start/end instruction

Callback Functions

Function	Description
NRC_SetCompleteOneInstrCallBack	Set instruction completion callback
NRC_SetJobFileCustomInstructionCB	Set custom instruction callback
NRC_SetMsgHappenCallback	Set message callback
NRC_SetSocketCustomProtocalCB	Set TCP protocol callback
NRC_SetFaultResetCB	Set error clear button callback
NRC_robotRunCycle_Callback	Set communication cycle callback (1ms)

IO Control

Function	Description
NRC_DigOut / NRC_DigOutByBoard	Digital output
NRC_ReadDigOut / NRC_ReadDigOutByBoard	Read digital output
NRC_ReadDigIn / NRC_ReadDigInByBoard	Read digital input
NRC_AnaOut / NRC_ReadAnaOut / NRC_ReadAnaIn	Analog IO

Communication Interface

Function	Description
NRC_SetCANBaudRate / NRC_SendCANData	CAN communication
NRC_SetCommunicationParam / NRC_SetCommunicationStatus	TCP communication parameters
NRC_SetTcpMessageCallback	TCP message callback
NRC_CommSendMessage	Send TCP message
NRC_GetModbusSlaveConnectStatus / NRC_GetModbusMasterConnectStatus	Modbus status
NRC_SetSocketCustomProtocalCB / NRC_SendSocketCustomProtocal	Custom Socket protocol

Messages and Errors

Function	Description
NRC_SetMsgHappenCallback	Message occurrence callback
NRC_FirstMessagePop / NRC_LastMessagePop	Pop first/last message
NRC_GetMessage / NRC_GetMessageSize	Get message
NRC_ClearMessage	Clear message queue
NRC_TriggerErrorReport	Actively trigger error report

Variable Management

Function	Description
NRC_SetBoolVar / NRC_ReadBoolVar	BOOL variable
NRC_SetIntVar / NRC_ReadIntVar	INT variable
NRC_SetDoubleVar / NRC_ReadDoubleVar	DOUBLE variable
NRC_SetGlobalPositionVariable / NRC_GetGlobalPositionVariable	Global position variable
NRC_SetGlobalPositionVariableNote / NRC_GetGlobalPositionVariableNote	Global position variable comment
NRC_GetCurrentTime	Get current time

Palletizing Process

Function	Description
NRC_Pallet_SetUsePalletType / NRC_Pallet_GetUsePalletType	Simple/full palletizing
NRC_Pallet_SetGripperParm / NRC_Pallet_GetGripperParm	Gripper parameters
NRC_Pallet_SetSimplePosParm / NRC_Pallet_GetSimplePosParm	Position parameters
NRC_Pallet_SetSimpleNumParm / NRC_Pallet_GetSimpleNumParm	Quantity parameters
NRC_Pallet_ClearCurrentStatus	Clear palletizing status
NRC_Pallet_SetPalletedWpNum / NRC_Pallet_GetPalletedWpNum	Palletized workpiece count

Motion Status Query

Function	Description
NRC_GetProgramRunStatus	Program run status (0-stopped 1-paused 2-running)
NRC_GetRobotRunStatus	Robot motion status (0-stopped 1-moving)
NRC_GetTeachBoxConnectStatus	Teach pendant connection status
NRC_GetCurrentOrderRuns	Program execution direction (forward/reverse)
NRC_GetCycleIndex / NRC_GetCycleCount / NRC_GetCycleTimeSec	Cycle count/time
NRC_GetDistanceToOldTrack	Distance to original trajectory stop point
NRC_GetRunqueueCurrentRunLine / NRC_GetJobfileCurrentRunLine	Current running line number

Motion Auxiliary

Function	Description
NRC_SetTargetPosition	Set robot target position
NRC_GetPlanningPosition	Get first point in planning queue
NRC_PV_SetTargetVelocity / NRC_PV_SetTargetAccAndDec	PV mode velocity/acceleration
NRC_SetInterpolationMethod	Set interpolation method (S-curve/trapezoidal)
NRC_SetAbsolutePosResolution	Absolute position resolution

Robot Parameters

Function	Description
NRC_SetRobotTypeConfig / NRC_GetRobotTypeConfig	Robot type
NRC_SetRobotDHConfig / NRC_GetRobotDHConfig	DH parameters
NRC_SetRobotJointConfig	Joint parameters
NRC_SetRobotDecareConfig / NRC_GetRobotDecareConfig	Cartesian parameters
NRC_CalcConfiguration	Calculate robot configuration
NRC_GetRobotAxisSum	Get robot axis count
NRC_GetSyncAxisSum	Get external axis count
NRC_SetRobotRangeLimit / NRC_GetRobotRangeLimit	Range limits

Prerequisites

• C++ language fundamentals
• Linux system (Ubuntu) basic usage
• Industrial robot basic knowledge
• Eclipse / VS Code / Vim or other editors