Secondary Development API(JobFiles,InstructionOperations)

This Chapter Covers Job File Management, instruction insertion, and run queue control interfaces.

Function Category Index

Job File Management

Function	Description
NRC_CreateJobfile/NRC_OpenJobfile/NRC_DeleteJobfile	Create/open/delete job file
NRC_JudgeJobIsExist	Check If Job File Exists
NRC_GetJobfileLineSum	Get Job File Total Line Count
NRC_JobfileEraseCmd	Delete Instruction At Specified Line In Job File

Job File Run Control

Function	Description
NRC_StartRunJobfile	Start/continue running job file
NRC_PauseRunJobfile	Pause Running Job File
NRC_StopRunJobfile	Stop Running Job File(from the beginning)
NRC_StopRunJobfileNotPoweroff	Stop Running(without power off)
NRC_StepRunJobfile	Step Run One Instruction Line
NRC_GetCurrentOrderRuns	Get Execution Direction(forward/reverse)
NRC_GetDistanceToOldTrack	Get Distance To Original Trajectory Stop Point
NRC_GetCycleIndex/NRC_GetCycleCount/NRC_GetCycleTimeSec	Cycle Count/time query
NRC_SetCycleIndex	Set Cycle Count

Local Background Program

Function	Description
NRC_CreatePthreadJobfile/NRC_OpenPthreadJobfile	Create/open background program
NRC_DeletePthreadJobfile/NRC_JudgePthreadJobIsExist	Delete/check background program

File-less run queue

Function	Description
NRC_CreateNoFlieRunqueue	Create File-less run queue
NRC_InsertNoFlieRunqueue	Insert A Set Of Instructions Into Queue
NRC_StartRunNoFlieRunqueue	Start Running File-less queue
NRC_PauseRunNoFlieRunqueue	Pause Running Queue
NRC_StopRunNoFlieRunqueue	Stop Running Queue
NRC_StopRunNoFlieRunqueueNotPoweroff	Stop(without power off)

Append Run Mode

Function	Description
NRC_OpenInstrAppendRunMode	Enable Append Run Mode(auto power on)
NRC_CloseInstrAppendRunMode	Disable Append Run Mode(auto power off)
NRC_AppendRunInstr	Append Run Instruction
NRC_PauseInstrAppendRun/NRC_PauseInstrAppendRunAsynchronous	Pause(sync/async)
NRC_RestartInstrAppendRun	Continue Running
NRC_PauseInstrAppendedRunInBreakpoint/NRC_RestartInstrAppendRunInBreakpoint	Break Point Mode Pause/continue
NRC_StopInstrAppendRun	Stop And Clear Queue
NRC_StopInstrAppendRunNotPoweroff	Stop(without power off)
NRC_GetIsInstrAppendRunMode	Get Whether In Append Mode
NRC_GetRestAppendInstrNum	Get Remaining Instruction Count
NRC_GetCurrentInstrRestPosNum	Get Current Instruction Remaining Points

Job File Insert Instructions(ByType)

MotionInstructions:

Function	Description
NRC_JobfileInsertMOVJ/MOVL/MOVS/MOVC/IMOV	Joint/linear/arc/incremental motion
NRC_JobfileInsertMOVJEXT/MOVLEXT/MOVCEXT	Motion Instructions With External Axis
NRC_JobfileInsertPOSCALALL	Bulk Position Modify Instruction

IOandTimerInstructions:

Function	Description
NRC_JobfileInsertDOUT	Digital Output
NRC_JobfileInsertTIMER	Delay
NRC_JobfileInsertWAIT	Wait Condition

FlowControlInstructions:

Function	Description
NRC_JobfileInsertUNTIL/NRC_JobfileInsertENDUNTIL	Conditional Loop
NRC_JobfileInsertIF/NRC_JobfileInsertVarIF	Conditional Judgment(port/variable)
NRC_JobfileInsertELSE	Else Branch
NRC_JobfileInsertENDIF	Condition End
NRC_JobfileInsertWHILE/NRC_JobfileInsertVarWHILE	While Loop
NRC_JobfileInsertENDWHILE	Loop End

ProgramControlInstructions:

Function	Description
NRC_JobfileInsertPAUSERUN	Pause Run
NRC_JobfileInsertCONTINUERUN	Continue Running Specified Program
NRC_JobfileInsertSTOPRUN	Stop Run
NRC_JobfileInsertRESTARTRUN	Restart Run
NRC_JobfileInsertPthreadStart/PthreadEnd	Start/end background program
NRC_JobfileInsertSETVAR	Set Variable
NRC_JobfileInsertOPCmd	Operation Instruction
NRC_JobfileInsertCMDNOTE	Comment

PalletizingInstructions:

Function	Description
NRC_JobfileInsertPALON/PALOFF	Pallet I Zing On/off
NRC_JobfileInsertPALGRIPPER/PALCLEAR	Gripper Switch/clear
NRC_JobfileInsertPALENTER/PALSHIFT/PALREAL	Enter/offset/place

WeldingInstructions:

Function	Description
NRC_JobfileInsertARCON/ARCOFF	Welding Arc Start/end
NRC_JobfileInsertTOFFSETON/TOFFSETOFF	Tool Offset On/off

Custom:

Function	Description
NRC_JobfileInsertCustomInstruction	Insert Custom Instruction

Run Queue Insert Instructions

Correspondingtojobfileinsertinstructions.UsetheNRC_RunqueueInsert*seriesoffunctionstoinsertinstructionsintothefile-lessrunqueue.Parametersareessentiallythesameasthejobfileversion(withoutthelineparameter).

Status Query

Function	Description
NRC_GetProgramRunStatus	Get Program Run Status(0-stopped1-paused2-running)
NRC_GetRobotRunStatus	Get Robot Motion Status
NRC_GetTeachBoxConnectStatus	Get Teach Pendant Connection Status
NRC_GetOpenJobFileName	Get Currently Opened Job Filename
NRC_GetRunqueueCurrentRunLine	Get Queue Current Running Line Number
NRC_GetJobfileCurrentRunLine	Get Job File Current Running Line Number
NRC_GetCurrentInstrRestPosNum	Get Current Instruction Remaining Points

Callback Functions

Function	Description
NRC_SetCompleteOneInstrCallBack	Set Instruction Completion Callback(twooverloads:with/withoutparameters)

Detailed API Documentation

Function	Description
NRC_CreateJobfile	Create A Job File.
NRC_OpenJobfile	Open A Job File.
NRC_DeleteJobfile	Delete A Job File.
NRC_JudgeJobIsExist	Check If A Job File Exists.
NRC_CreatePthreadJobfile	Create A Local Background Program.
NRC_OpenPthreadJobfile	Open A Local Background Program.
NRC_DeletePthreadJobfile	Delete A Local Background Program.
NRC_JudgePthreadJobIsExist	Check If A Local Background Program Exists.
NRC_GetJobfileLineSum	Total Line Count Of The Currently Opened Job File.
NRC_StartRunJobfile	Start/continue running a job file.
NRC_StepRunJobfile	Single-step run one line of instruction in a job file.
NRC_PauseRunJobfile	Pause Running A Job File.
NRC_StopRunJobfile	Stop Running A Job File.
NRC_GetDistanceToOldTrack	Get The Distance From The Current Position To The Original Interpolation Trajectory Stop Point.
NRC_StopRunJobfileNotPoweroff	Stop Running A Job File Without Powering Off.
NRC_GetCurrentOrderRuns	Get Whether The Current Program Execution Direction Is Forward Or Reverse.
NRC_CreateNoFlieRunqueue	Creates A File-less run queue.
NRC_StartRunNoFlieRunqueue	Single-step run one line of instruction in a job file.
NRC_PauseRunNoFlieRunqueue	Pauses The File-less run queue.
NRC_StopRunNoFlieRunqueue	Stops The File-less run queue.
NRC_StopRunNoFlieRunqueueNotPoweroff	Motionqueue:stopsrunningwithoutpoweringoff.
NRC_JobfileEraseCmd	Deletes A Job File Instruction.
NRC_InsertNoFlieRunqueue	Insert A Set Of Instruction Data Into The Run Queue.
NRC_OpenInstrAppendRunMode	Enableappendrunmode;addingrunqueueswillexecuteimmediately.
NRC_CloseInstrAppendRunMode	Disable Append Run Mode.
NRC_AppendRunInstr	Add Run Queue In Append Run Mode.
NRC_PauseInstrAppendRun	Pause Append Run.
NRC_PauseInstrAppendRunAsynchronous	Asynchronously Pauses Append Run.
NRC_RestartInstrAppendRun	Restart Append Run.
NRC_PauseInstrAppendedRunInBreakpoint	Pauses Append Run In Break Point Mode.
NRC_RestartInstrAppendRunInBreakpoint	Restart Append Run In Break Point Mode.
NRC_StopInstrAppendRun	Stop Append Run.
NRC_StopInstrAppendRunNotPoweroff	Stop The Appended Run.
NRC_GetIsInstrAppendRunMode	Get Whether Currently In Append Run Mode.
NRC_GetRestAppendInstrNum	Get The Remaining Instruction Count In Append Run.
NRC_GetCurrentInstrRestPosNum	Get The Remaining Point Count Of The Current Running Instruction.
NRC_SetCompleteOneInstrCallBack	Setthecallbackfunctionwhenaninstructioncompletesexecution.Thiscallbackwillbecalledwhenaninstructionfinishesexecuting.
NRC_SetCompleteOneInstrCallBack	Setthecallbackfunctionwhenaninstructioncompletesexecution.Thiscallbackwillbecalledwhenaninstructionfinishesexecuting.Thiscallbackfunctionacceptsuserparameters.
NRC_RunqueueInsertMOVJ	Insert Mo Vj Instruction Into Run Queue.
NRC_RunqueueInsertMOVL	Insert Mo Vl Instruction Into Run Queue.
NRC_RunqueueInsertMOVS	Insert Mo Vs Instruction Into Run Queue.
NRC_RunqueueInsertMOVC	Insert Mo Vc Instruction Into Run Queue.
NRC_RunqueueInsertIMOV	Insert Imov Instruction Into Run Queue.
NRC_RunqueueInsertDOUT	Insert D Out Instruction Into Run Queue.
NRC_RunqueueInsertTIMER	Insert Timer Instruction Into Run Queue.
NRC_RunqueueInsertWAIT	Insert Wait Instruction Into Run Queue.
NRC_RunqueueInsertUNTIL	Insert Until Instruction Into Run Queue.
NRC_RunqueueInsertENDUNTIL	Insert End Until Instruction Into Run Queue.
NRC_RunqueueInsertIF	Insert If Instruction Into Run Queue.
NRC_RunqueueInsertWHILE	Insert While Instruction Into Run Queue.
NRC_RunqueueInsertELSE	Insert Else Instruction Into Run Queue.
NRC_RunqueueInsertENDWHILE	Insert End While Instruction Into Run Queue.
NRC_RunqueueInsertENDIF	Insert End If Instruction Into Run Queue.
NRC_RunqueueInsertPALON	Insert Pal On Instruction Into Run Queue.
NRC_RunqueueInsertPALOFF	Insert Pal Off Instruction Into Run Queue.
NRC_RunqueueInsertPALGRIPPER	Insert Pal Gripper Instruction Into Run Queue.
NRC_RunqueueInsertPALCLEAR	Insert Pal Clear Instruction Into Run Queue.
NRC_RunqueueInsertPALENTER	Insert Pal Enter Instruction Into Run Queue.
NRC_RunqueueInsertPALSHIFT	Insert Pal Shift Instruction Into Run Queue.
NRC_RunqueueInsertPALREAL	Insert Pal Real Instruction Into Run Queue.
NRC_RunqueueInsertTOFFSETON	Insert T Offset On Instruction Into Run Queue.
NRC_RunqueueInsertTOFFSETOFF	Insert T Offset Off Instruction Into Run Queue.
NRC_RunqueueInsertARCON	Insert Arc On Instruction Into Run Queue.
NRC_RunqueueInsertARCOFF	Insert Arc Off Instruction Into Run Queue.
NRC_RunqueueInsertCustomInstruction	Insert Custom Instruction Into Run Queue.
NRC_JobfileInsertMOVJ	Insert Mo Vj Instruction Into Job File.
NRC_JobfileInsertMOVL	Insert Mo Vl Instruction Into Job File.
NRC_JobfileInsertMOVS	Insert Mo Vs Instruction Into Job File.
NRC_JobfileInsertMOVC	Insert Mo Vc Instruction Into Job File.
NRC_JobfileInsertIMOV	Insert Imov Instruction Into Job File.
NRC_JobfileInsertDOUT	Insert D Out Instruction Into Job File.
NRC_JobfileInsertTIMER	Insert Timer Instruction Into Job File.
NRC_JobfileInsertWAIT	Insert Wait Instruction Into Job File.
NRC_JobfileInsertUNTIL	Insert Until Instruction Into Job File.
NRC_JobfileInsertENDUNTIL	Insert End Until Instruction Into Job File.
NRC_JobfileInsertIF	Insert If Instruction Into Job File.
NRC_JobfileInsertVarIF	Insert Parameterized If Instruction Into Job File.
NRC_JobfileInsertWHILE	Insert While Instruction Into Job File.
NRC_JobfileInsertVarWHILE	Insert Parameterized While Instruction Into Job File.
NRC_JobfileInsertELSE	Insert Else Instruction Into Job File.
NRC_JobfileInsertENDWHILE	Insert End While Instruction Into Job File.
NRC_JobfileInsertENDIF	Insert End If Instruction Into Job File.
NRC_JobfileInsertPAUSERUN	Insert Pause Run Instruction Into Job File.
NRC_JobfileInsertCONTINUERUN	Insert Continue Run Instruction Into Job File.
NRC_JobfileInsertSTOPRUN	Insert Stop Run Instruction Into Job File.
NRC_JobfileInsertRESTARTRUN	Insert Restart Run Instruction Into Job File.
NRC_JobfileInsertCMDNOTE	Insert Cm D Note Instruction Into Job File.
NRC_JobfileInsertPthreadStart	InsertPTHREAD_STARTinstructionintojobfile.
NRC_JobfileInsertPthreadEnd	InsertPTHREAD_ENDinstructionintojobfile.
NRC_JobfileInsertSETVAR	Insert Set Var Instruction Into Job File.
NRC_JobfileInsertOPCmd	Insert Opc Md Instruction Into Job File.
NRC_JobfileInsertPALON	Insert Pal On Instruction Into Job File.
NRC_JobfileInsertPALOFF	Insert Pal Off Instruction Into Job File.
NRC_JobfileInsertPALGRIPPER	Insert Pal Gripper Instruction Into Job File.
NRC_JobfileInsertPALCLEAR	Insert Pal Clear Instruction Into Job File.
NRC_JobfileInsertPALENTER	Insert Pal Enter Instruction Into Job File.
NRC_JobfileInsertPALSHIFT	Insert Pal Shift Instruction Into Job File.
NRC_JobfileInsertPALREAL	Insert Pal Real Instruction Into Job File.
NRC_JobfileInsertTOFFSETON	Insert T Offset On Instruction Into Job File.
NRC_JobfileInsertTOFFSETOFF	Insert T Offset Off Instruction Into Job File.
NRC_JobfileInsertARCON	Insert Arc On Instruction Into Job File.
NRC_JobfileInsertARCOFF	Insert Arc Off Instruction Into Job File.
NRC_JobfileInsertCustomInstruction	Insert Custom Instruction Into Job File.
NRC_GetRunqueueCurrentRunLine	Get The Current Running Line Number Of The Run Queue.
NRC_GetJobfileCurrentRunLine	Get The Current Running Line Number Of The Job File.
NRC_GetCycleIndex	Get The Total Number Of Times The Current Job File Should Run.
NRC_GetCycleCount	Get The Number Of Times The Current Job File Has Been Run.
NRC_GetCycleTimeSec	Get The Time The Current Job File Has Been Running.
NRC_SetCycleIndex	Set The Total Number Of Times The Current Job File Should Run.
NRC_RunqueueInsertMOVJEXT	Insert Mo Vj Ext Instruction Into Run Queue.
NRC_JobfileInsertMOVJEXT	Insert Mo Vj Ext Instruction Into Job File.
NRC_RunqueueInsertMOVLEXT	Insert Mo Vl Ext Instruction Into Run Queue.
NRC_JobfileInsertMOVLEXT	Insert Mo Vl Ext Instruction Into Job File.
NRC_RunqueueInsertMOVCEXT	Insert M Ovce Xt Instruction Into Run Queue.
NRC_JobfileInsertMOVCEXT	Insert M Ovce Xt Instruction Into Job File.
NRC_JobfileInsertPOSCALALL	Insert Position Bulk Modify Instruction Into Job File.
NRC_RunqueueInsertPOSCALALL	Insert Position Bulk Modify Instruction Into Run Queue.

NRC_CreateJobfile

Function Prototype	intNRC_CreateJobfile(std::stringjobname);
Description	Create A Job File.
Parameters	InputParameters: jobnamenameofthejobfiletocreate
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	None

NRC_OpenJobfile

Function Prototype	intNRC_OpenJobfile(std::stringjobname);
Description	Open A Job File.
Parameters	InputParameters: jobnamenameofthejobfiletoopen
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	None

NRC_DeleteJobfile

Function Prototype	intNRC_DeleteJobfile(std::stringjobname);
Description	Delete A Job File.
Parameters	InputParameters: jobnamenameofthejobfiletodelete
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	None

NRC_JudgeJobIsExist

Function Prototype	intNRC_JudgeJobIsExist(std::stringjobname);
Description	Check If A Job File Exists.
Parameters	InputParameters: jobnamenameofthejobfiletocheck
Return Value	Returnswhetherthequeriedjobfileexists 0Jobfiledoesnotexist 1Jobfileexists
Notes	None

NRC_CreatePthreadJobfile

Function Prototype	intNRC_CreatePthreadJobfile(std::stringjobname);
Description	Create A Local Background Program.
Parameters	InputParameters: jobnamenameofthelocalbackgroundprogramtocreate
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Backgroundprogramscannotinsertanymotioninstructions;onlylogicaloperationsareallowed.

NRC_OpenPthreadJobfile

Function Prototype	intNRC_OpenPthreadJobfile(std::stringjobname);
Description	Open A Local Background Program.
Parameters	InputParameters: jobnamenameofthelocalbackgroundprogramtoopen
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	None

NRC_DeletePthreadJobfile

Function Prototype	intNRC_DeletePthreadJobfile(std::stringjobname);
Description	Delete A Local Background Program.
Parameters	InputParameters: jobnamenameofthelocalbackgroundprogramtodelete
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	None

NRC_JudgePthreadJobIsExist

Function Prototype	intNRC_JudgePthreadJobIsExist(std::stringjobname);
Description	Check If A Local Background Program Exists.
Parameters	InputParameters: jobnamenameofthelocalbackgroundprogramtocheck
Return Value	Returnswhetherthequeriedjobfileexists 0Localbackgroundprogramdoesnotexist 1Localbackgroundprogramexists
Notes	None

NRC_GetJobfileLineSum

Function Prototype	intNRC_GetJobfileLineSum();
Description	Total Line Count Of The Currently Opened Job File.
Parameters	None
Return Value	Returns The Total Line Count Of The Currently Opened Job File.
Notes	Beforecallingthisfunction,pleasefirstcall NRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_StartRunJobfile

Function Prototype	intNRC_StartRunJobfile(conststd::string&jobname);
Description	Start/continue running a job file.
Parameters	InputParameters: jobnamenameofthejobfiletostartrunning, this parameter is invalid when continuing
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Thisfunctionisonlyvalidinrunmode! Aftersuccessfullycallingthisfunction, therobotwillstartmoving.Pleaseensuresafety!

NRC_StepRunJobfile

Function Prototype	intNRC_StepRunJobfile(conststd::string&jobname,intline);
Description	Single-step run one line of instruction in a job file.
Parameters	InputParameters: jobnamenameofthejobfiletosingle-step run, thisparameterisinvalidwhencontinuing lineinstructionlinenumbertosingle-step run, this parameter is invalid when continuing
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Thisfunctionisonlyvalidinrunmode! Aftersuccessfullycallingthisfunction, therobotwillstartmoving.Pleaseensuresafety!

NRC_PauseRunJobfile

Function Prototype	intNRC_PauseRunJobfile();
Description	Pause Running A Job File.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Pausesthejobfile.CallNRC_StartRunJobfile()tocontinuerunning.

NRC_StopRunJobfile

Function Prototype	intNRC_StopRunJobfile();
Description	Stop Running A Job File.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Stopsthejobfile.Afterexecution,callingNRC_StartRunJobfile(std::stringjobname)willrestartfromthebeginning.

NRC_GetDistanceToOldTrack

Function Prototype	intNRC_GetDistanceToOldTrack(introbot,double&distance);
Description	Get The Distance From The Current Position To The Original Interpolation Trajectory Stop Point.
Parameters	InputParameters: robotrobotnumber distancethelineardistancebetweenthestoppointandthecurrentpoint
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	None

NRC_StopRunJobfileNotPoweroff

Function Prototype	intNRC_StopRunJobfileNotPoweroff();
Description	Stop Running A Job File Without Powering Off.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Stopsthejobfilewithoutpoweringoff.Afterexecution,callingNRC_StartRunJobfile(std::stringjobname)willrestartfromthebeginning.

NRC_GetCurrentOrderRuns

Function Prototype	intNRC_GetCurrentOrderRuns(bool&order);
Description	Get Whether The Current Program Execution Direction Is Forward Or Reverse.
Parameters	OutputParameters: orderexecutiondirection:true/false(forward/reverseexecution)
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	None

NRC_CreateNoFlieRunqueue

Function Prototype	intNRC_CreateNoFlieRunqueue();
Description	Creates A File-less run queue.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	After Creating A File-less run queue, call the insert instruction function, then call the start running function to execute one or more instructions.

NRC_StartRunNoFlieRunqueue

Function Prototype	intNRC_StartRunNoFlieRunqueue();
Description	Single-step run one line of instruction in a job file.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	After Starting, to add new run instructions, please recreate a new file-lessrunqueueafterthisrunfinishes. Aftersuccessfullycallingthisfunction, therobotwillstartmoving.Pleaseensuresafety.

NRC_PauseRunNoFlieRunqueue

Function Prototype	intNRC_PauseRunNoFlieRunqueue();
Description	Pauses The File-less run queue.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Pausesthefile-lessrunqueue.CallNRC_StartRunNoFlieRunqueue()tocontinuerunning.

NRC_StopRunNoFlieRunqueue

Function Prototype	intNRC_StopRunNoFlieRunqueue();
Description	Stops The File-less run queue.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	After Stopping, to continue running, please recreate a new file-less run queue.

NRC_StopRunNoFlieRunqueueNotPoweroff

Function Prototype	intNRC_StopRunNoFlieRunqueueNotPoweroff();
Description	Motionqueue:stopsrunningfile-less run queue without powering off.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	After Stopping, to continue running, please recreate a new file-less run queue.

NRC_JobfileEraseCmd

Function Prototype	intNRC_JobfileEraseCmd(intline);
Description	Deletes A Job File Instruction.
Parameters	InputParameters: linelinenumberoftheinstructiontodelete,parameterrange:0<line<=NRC_GetJobfileLineSum()
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	None

NRC_InsertNoFlieRunqueue

Function Prototype	intNRC_InsertNoFlieRunqueue(std::vector<NRC_InstrDataBase*>&instrVec);
Description	Insert A Set Of Instruction Data Into The Run Queue.
Parameters	InputParameters: instrVecthesetofinstructiondatatoinsert
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Example: std::vector<NRC_InstrDataBase*>instrVec; //queuedoesnotneedtobecreated,itwillbecreatedautomatically instrVec.push_back(newNRC_InstrDataMOVJ(50,pos1,5)); instrVec.push_back(newNRC_InstrDataMOVL(30,pos2,2)); instrVec.push_back(newNRC_InstrDataMOVC(20,pos0,3)); instrVec.push_back(newNRC_InstrDataMOVC(20,pos1,3)); NRC_InsertNoFlieRunqueue(instrVec); //Instructionscanbeinsertedinmultiplegroups/batches.Laterinsertionswillbeappendedafterpreviousones. instrVec.clear(); instrVec.push_back(newNRC_InstrDataIMOV(40,dev1,0)); instrVec.push_back(newNRC_InstrDataDOUT(5,1)); instrVec.push_back(newNRC_InstrDataTIMER(3.3)); instrVec.push_back(newNRC_InstrDataWAIT(newNRC_ConditionJudge(NRC_ConditionJudge::INT_,3,NRC_ConditionJudge::LESS,NRC_ConditionJudge::DOUBLE_,5),2.2)); instrVec.push_back(newNRC_InstrDataWAIT(newNRC_ConditionJudge(NRC_ConditionJudge::DIN_,2,NRC_ConditionJudge::EQUAL_TO,NRC_ConditionJudge::CONST_,1),0)); instrVec.push_back(newNRC_InstrDataMOVJ(30,pos1,1)); NRC_InsertNoFlieRunqueue(instrVec); //startexecutingthequeue NRC_StartRunNoFlieRunqueue();

NRC_OpenInstrAppendRunMode

Function Prototype	intNRC_OpenInstrAppendRunMode();
Description	Enableappendrunmode;addingrunqueueswillexecuteimmediately.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Aftersuccessfullycallingthisfunction,therobotwillauto-enable.Pleaseensuresafety. Appendrunmodecanonlybeenabledwhenservoisinreadystate,i.e.,NRC_GetServoStatus()==1. Inappendrunmode,ifservoerrors,runerrors,orparseerrorsoccur,itwillautomaticallyexitappendmodeanddisable. Inappendrunmode,switchingtoteachorrunmodewillautomaticallyexitappendmodeanddisable.

NRC_CloseInstrAppendRunMode

Function Prototype	intNRC_CloseInstrAppendRunMode();
Description	Disable Append Run Mode.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Aftersuccessfullycallingthisfunction,therobotwillautomaticallydisable. Onlywhentherunqueueisemptyorallrunqueueshavecompletedcandisableappendrunmode,i.e.,NRC_GetProgramRunStatus()==0

NRC_AppendRunInstr

Function Prototype	intNRC_AppendRunInstr(std::vector<NRC_InstrDataBase*>&instrVec);
Description	Add Run Queue In Append Run Mode.
Parameters	InputParameters: instrVecthesetofinstructiondatatoinsert
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Afteraddingtotherunqueue, therobotwillimmediatelyexecutetheaddedqueue.Pleaseensuresafety. Onlyrobotmotioninstructionscanbeaddedtotherunqueue.
Example: //Enableappendrunmode,robotauto-enables NRC_OpenInstrAppendRunMode(); std::vector<NRC_InstrDataBase*>instrVec; instrVec.push_back(newNRC_InstrDataMOVJ(50,pos1,5)); instrVec.push_back(newNRC_InstrDataMOVL(30,pos2,2)); //Afteraddingthequeue,therobotrunsdirectly NRC_AppendRunInstr(instrVec); ...... instrVec.clear(); instrVec.push_back(newNRC_InstrDataMOVC(20,pos0,3)); instrVec.push_back(newNRC_InstrDataMOVC(20,pos1,3)); //Aftertherobotfinishesrunningthepreviouslyaddedqueue,itwillconnecttothisnewlyaddedqueue NRC_AppendRunInstr(instrVec); ...... NRC_PauseInstrAppendRun();//pauserun ...... instrVec.clear(); instrVec.push_back(newNRC_InstrDataMOVJ(50,pos1,5)); instrVec.push_back(newNRC_InstrDataMOVL(30,pos2,2)); //Queueaddedduringpausecanalsorunnormallyaftercallingrestart NRC_AppendRunInstr(instrVec); ...... NRC_RestartInstrAppendRun();//restart ...... //stoprunning,robotstops,andclearallqueues NRC_StopInstrAppendRun(); //Disableappendrunmode,robotautomaticallydisablesservo NRC_CloseInstrAppendRunMode();

NRC_PauseInstrAppendRun

Function Prototype	NRC_PauseInstrAppendRun();NRC_PauseInstrAppendRun();
Description	Pause Append Run.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Aftersuccessfullycallingthisfunction,therobotwillpause.Thisfunctionwillexitaftertherobotstopsorcalls500mstoexit;callNRC_RestartInstrAppendRun()tocontinuerunning. Therunqueueaddedduringpausewillnotrunimmediately;insteaditisplacedinacachequeueandwillonlyrunafterrestartiscalled.

NRC_PauseInstrAppendRunAsynchronous

Function Prototype	intNRC_PauseInstrAppendRunAsynchronous();
Description	Asynchronously Pauses Append Run.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Aftersuccessfullycallingthisfunction,therobotwillpause.Thisfunctionwillexitdirectly;callNRC_RestartInstrAppendRun()tocontinuerunning. Therunqueueaddedduringpausewillnotrunimmediately;insteaditisplacedinacachequeueandwillonlyrunafterrestartiscalled.

NRC_RestartInstrAppendRun

Function Prototype	intNRC_RestartInstrAppendRun();
Description	Restart Append Run.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	When The Robot Is About To Pause, calling this function will allow the robot to continue running.

NRC_PauseInstrAppendedRunInBreakpoint

Function Prototype	intNRC_PauseInstrAppendedRunInBreakpoint();
Description	Pauses Append Run In Break Point Mode.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Aftersuccessfullycallingthisfunction,,robotwill pause running,records the running statusatthecurrentbreakpoint,andpowersoff.Thisfunctionwilltakeabout500mstoexitaftertherobotstops.CallNRC_RestartInstrAppendRunInBreakpoint()tocontinuerunning. Therunqueueaddedduringpausewillnotrunimmediately;insteaditisplacedinacachequeueandwillonlyrunafterrestartiscalled.

NRC_RestartInstrAppendRunInBreakpoint

Function Prototype	intNRC_RestartInstrAppendRunInBreakpoint();
Description	Restart Append Run In Break Point Mode.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	When The Robot Stops At A Break Point, calling this function can make the robot continue running

NRC_StopInstrAppendRun

Function Prototype	intNRC_StopInstrAppendRun();
Description	Stop Append Run.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	After Successfully Calling This Function, the robot stops, clears all run queues, and exits append mode.

NRC_StopInstrAppendRunNotPoweroff

Function Prototype	intNRC_StopInstrAppendRunNotPoweroff();
Description	Stop The Appended Run.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Aftersuccessfullycallingthisfunction,therobotstops,clearsallrunqueues,remainsinappendmode,anddoesnotpoweroff. MustcallNRC_RestartInstrAppendRun()tocontinuerunningnewlyappendedqueues.

NRC_GetIsInstrAppendRunMode

Function Prototype	intNRC_GetIsInstrAppendRunMode();
Description	Get Whether Currently In Append Run Mode.
Parameters	None
Return Value	Whethercurrentlyinappendrunmode0-Notinappendrunmode1-Currently In Append Run Mode
Notes	None

NRC_GetRestAppendInstrNum

Function Prototype	intNRC_GetRestAppendInstrNum();
Description	Get The Remaining Instruction Count In Append Run.
Parameters	None
Return Value	Current Remaining Instruction Count
Notes	Form Ov C Instructions, twoentriesformapair.Wheninserting, two are inserted, but during execution, they are counted as one

NRC_GetCurrentInstrRestPosNum

Function Prototype	intNRC_GetCurrentInstrRestPosNum();
Description	Get The Remaining Point Count Of The Current Running Instruction.
Parameters	None
Return Value	Remainingpointsofthecurrentrunninginstruction. Whentheinstructionhasnotbeencalculated, returns-1.
Notes	None

NRC_SetCompleteOneInstrCallBack

Function Prototype	intNRC_SetCompleteOneInstrCallBack(void(*fun)());
Description	Setthecallbackfunctionwhenaninstructioncompletesexecution.Thiscallbackwillbecalledwhenaninstructionfinishesexecuting.
Parameters	InputParameters: funFunctionpointerofthecallbackfunction
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	ThisfunctionandNRC_SetCompleteOneInstrCallBack(void(*fun)(NRC_InstrDataBase::NRC_UserParam)),onlythelastcalledfunctiontakeseffect Thiscallbackfunctionmustnotcontaintime-consumingoperations,otherwiseitwillseriouslyaffectprogramexecution

NRC_SetCompleteOneInstrCallBack

Function Prototype	intNRC_SetCompleteOneInstrCallBack(void(*fun)(NRC_InstrDataBase::NRC_UserParam));
Description	Setthecallbackfunctionwhenaninstructioncompletesexecution.Thiscallbackwillbecalledwhenaninstructionfinishesexecuting.Thiscallbackfunctionacceptsuserparameters.
Parameters	InputParameters: funFunctionpointerofthecallbackfunction
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	ThisfunctionandNRC_SetCompleteOneInstrCallBack(void(*fun)(NRC_InstrDataBase::NRC_UserParam)),onlythelastcalledfunctiontakeseffect Thiscallbackfunctionmustnotcontaintime-consumingoperations,otherwiseitwillseriouslyaffectprogramexecution

NRC_RunqueueInsertMOVJ

Function Prototype	intNRC_RunqueueInsertMOVJ(intvel,intacc,intdec,constNRC_Position&target,intpl=0,inttm=0);
Description	Insert Mo Vj Instruction Into Run Queue.
Parameters	InputParameters: velRobotrunningspeedasapercentageofmaximumspeed, parameterrange:0<vel<=100 accRobotrunningaccelerationasapercentageofeachjoint'smaximumacceleration, parameterrange:0<vel<=100 decRobotrunningdecelerationasapercentageofeachjoint'smaximumdeceleration, parameterrange:0<vel<=100 targetRobotmotiontargetposition plSmoothness;willsmoothlytransitionwiththenextmotioninstruction.Thelargerthevalue, the smoother, but the greater the trajectory deviation, parameterrange:0<=pl<=5 tmAdvanceexecutiontime;thenextinstructionstartsexecutingtmsecondsbeforethecurrentinstructionfinishes
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue

NRC_RunqueueInsertMOVL

Function Prototype	intNRC_RunqueueInsertMOVL(intvel,intacc,intdec,constNRC_Position&target,intpl=0,inttm=0);
Description	Insert Mo Vl Instruction Into Run Queue.
Parameters	InputParameters: velRobotrunningspeedasapercentageofmaximumspeed, parameterrange:0<vel<=100 accRobotrunningaccelerationasapercentageofeachjoint'smaximumacceleration, parameterrange:0<vel<=100 decRobotrunningdecelerationasapercentageofeachjoint'smaximumdeceleration, parameterrange:0<vel<=100 targetRobotmotiontargetposition plSmoothness;willsmoothlytransitionwiththenextmotioninstruction.Thelargerthevalue, the smoother, but the greater the trajectory deviation, parameterrange:0<=pl<=5 tmAdvanceexecutiontime;thenextinstructionstartsexecutingtmsecondsbeforethecurrentinstructionfinishes
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue

NRC_RunqueueInsertMOVS

Function Prototype	intNRC_RunqueueInsertMOVS(intvel,intacc,intdec,constNRC_Position&target,intpl=0,inttm=0);
Description	Insert Mo Vs Instruction Into Run Queue.
Parameters	InputParameters: velRobotrunningspeedasapercentageofmaximumspeed, parameterrange:0<vel<=100 accRobotrunningaccelerationasapercentageofeachjoint'smaximumacceleration, parameterrange:0<vel<=100 decRobotrunningdecelerationasapercentageofeachjoint'smaximumdeceleration, parameterrange:0<vel<=100 targetRobotmotiontargetposition plSmoothness;willsmoothlytransitionwiththenextmotioninstruction.Thelargerthevalue, the smoother, but the greater the trajectory deviation, parameterrange:0<=pl<=5 tmAdvanceexecutiontime;thenextinstructionstartsexecutingtmsecondsbeforethecurrentinstructionfinishes
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue

NRC_RunqueueInsertMOVC

Function Prototype	intNRC_RunqueueInsertMOVC(intvel,intacc,intdec,constNRC_Position&target,intpl=0,inttm=0);
Description	Insert Mo Vc Instruction Into Run Queue.
Parameters	InputParameters: velRobotrunningspeedasapercentageofmaximumspeed, parameterrange:0<vel<=100 accRobotrunningaccelerationasapercentageofeachjoint'smaximumacceleration, parameterrange:0<vel<=100 decRobotrunningdecelerationasapercentageofeachjoint'smaximumdeceleration, parameterrange:0<vel<=100 targetRobotmotiontargetposition plSmoothness;willsmoothlytransitionwiththenextmotioninstruction.Thelargerthevalue, the smoother, but the greater the trajectory deviation, parameterrange:0<=pl<=5 tmAdvanceexecutiontime;thenextinstructionstartsexecutingtmsecondsbeforethecurrentinstructionfinishes
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue

NRC_RunqueueInsertIMOV

Function Prototype	intNRC_RunqueueInsertIMOV(intvel,intacc,intdec,constNRC_Position&deviation,intpl=0,inttm=0);
Description	Insert Imov Instruction Into Run Queue.
Parameters	InputParameters: velRobotrunningspeedasapercentageofmaximumspeed, parameterrange:0<vel<=100 accRobotrunningaccelerationasapercentageofeachjoint'smaximumacceleration, parameterrange:0<vel<=100 decRobotrunningdecelerationasapercentageofeachjoint'smaximumdeceleration, parameterrange:0<vel<=100 targetRobotmotiontargetposition plSmoothness;willsmoothlytransitionwiththenextmotioninstruction.Thelargerthevalue, the smoother, but the greater the trajectory deviation, parameterrange:0<=pl<=5 tmAdvanceexecutiontime;thenextinstructionstartsexecutingtmsecondsbeforethecurrentinstructionfinishes
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue

NRC_RunqueueInsertDOUT

Function Prototype	intNRC_RunqueueInsertDOUT(intport,intvalue,doubletime_sec);
Description	Insert D Out Instruction Into Run Queue.
Parameters	InputParameters: portdigitaloutputPortnumbertooutput, parameterrange:port>0 valuePortoutputstatus0-Lowlevel1-Highlevel timeSecDurationofportoutputstatus
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue

NRC_RunqueueInsertTIMER

Function Prototype	intNRC_RunqueueInsertTIMER(doubletimeSec);
Description	Insert Timer Instruction Into Run Queue.
Parameters	InputParameters: timeSecDelaytimeinseconds, parameterrange:timeSec>0
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue

NRC_RunqueueInsertWAIT

Function Prototype	intNRC_RunqueueInsertWAIT(intport,intvalue,doubletimeoutSec,boolnow=false);
Description	Insert Wait Instruction Into Run Queue.
Parameters	InputParameters: portdigitaloutputPortnumbertooutput, parameterrange:port>0 valuePortoutputstatus0-Lowlevel1-Highlevel timeoutSecTimeoutinseconds, parameterrange:timeSec>=0 nowWhetherPLiscontinuoustrue-continuous false-non-continuous
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue

NRC_RunqueueInsertUNTIL

Function Prototype	intNRC_RunqueueInsertUNTIL(intport,intvalue);
Description	Insert Until Instruction Into Run Queue.
Parameters	InputParameters: portdigitalinputPortnumbertodetect, parameterrange:port>0 valuePortoutputstatus0-Lowlevel1-High Level
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue

NRC_RunqueueInsertENDUNTIL

Function Prototype	intNRC_RunqueueInsertENDUNTIL();
Description	Insert End Until Instruction Into Run Queue.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue MustbeusedwithNRC_RunqueueInsertUNTIL(intport,intvalue)together

NRC_RunqueueInsertIF

Function Prototype	intNRC_RunqueueInsertIF(intport,intvalue);
Description	Insert If Instruction Into Run Queue.
Parameters	InputParameters: portdigitalinputPortnumbertodetect, parameterrange:port>0 valuePortoutputstatus0-Lowlevel1-High Level
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue MustbeusedwithNRC_RunqueueInsertENDIF()together

NRC_RunqueueInsertWHILE

Function Prototype	intNRC_RunqueueInsertWHILE();
Description	Insert While Instruction Into Run Queue.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue MustbeusedwithNRC_RunqueueInsertENDWHILE()together

NRC_RunqueueInsertELSE

Function Prototype	intNRC_RunqueueInsertELSE();
Description	Insert Else Instruction Into Run Queue.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue MustbeusedwithNRC_RunqueueInsertIF(intport,intvalue),NRC_RunqueueInsertENDIF()together

NRC_RunqueueInsertENDWHILE

Function Prototype	intNRC_RunqueueInsertENDWHILE();
Description	Insert End While Instruction Into Run Queue.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue MustbeusedwithNRC_RunqueueInsertWHILE(intport,intvalue)together

NRC_RunqueueInsertENDIF

Function Prototype	intNRC_RunqueueInsertENDIF();
Description	Insert End If Instruction Into Run Queue.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue MustbeusedwithNRC_RunqueueInsertIF(intport,intvalue)together

NRC_RunqueueInsertPALON

Function Prototype	intNRC_RunqueueInsertPALON(intid,inttype,intvar1=0,intvar2=0,intvar3=0);
Description	Insert Pal On Instruction Into Run Queue.
Parameters	InputParameters: idPalletizingprocessnumber, parameterrange:1<=id<=99 typePalletizingtype:0-Pallet I Zing, 1-Depalletizing var1storecurrenttotalpalletizedworkpiececount, 0meansdonotstore, 1-100representsvariableGI001-GI100, parameterrange:0<=var1<=100 var2storescurrentpalletizedlayercount, 0meansdonotstore, 1-100representsvariableGI001-GI100, parameterrange:0<=var1<=100 var3storescurrentlayerworkpiececount, 0meansdonotstore, 1-100representsvariableGI001-GI100, parameterrange:0<=var1<=100
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue MustbeusedwithNRC_RunqueueInsertPALOFF(intid,intvar)together

NRC_RunqueueInsertPALOFF

Function Prototype	intNRC_RunqueueInsertPALOFF(intid,intvar=0);
Description	Insert Pal Off Instruction Into Run Queue.
Parameters	InputParameters: idPalletizingprocessnumber, parameterrange:1<=id<=99 varVariabletostorewhetherpalletizingisfinished, 0meansnotstored, 1-100meansvariablesGB001-GB100, parameterrange:0<=var<=100
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue MustbeusedwithNRC_RunqueueInsertPALON(intid,inttype,intvar1,intvar2,intvar3)together

NRC_RunqueueInsertPALGRIPPER

Function Prototype	intNRC_RunqueueInsertPALGRIPPER(intid,inttool);
Description	Insert Pal Gripper Instruction Into Run Queue.
Parameters	InputParameters: idPalletizingprocessnumber, parameterrange:1<=id<=99 toolGrippernumbertoswitchto, parameterrange:1<=id<=4
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue

NRC_RunqueueInsertPALCLEAR

Function Prototype	intNRC_RunqueueInsertPALCLEAR(intid);
Description	Insert Pal Clear Instruction Into Run Queue.
Parameters	InputParameters: idPalletizingprocessnumber, parameterrange:1<=id<=99
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue

NRC_RunqueueInsertPALENTER

Function Prototype	intNRC_RunqueueInsertPALENTER(intid,intmoveType,intvel,intacc,intdec,intpl);
Description	Insert Pal Enter Instruction Into Run Queue.
Parameters	InputParameters: idPalletizingprocessnumber,parameterrange:1<=id<=99 moveTypeInterpolationmethodforthisinstruction:1-jointinterpolation2-linearinterpolation3-arcinterpolation velrobotrunningspeed,forjointinterpolation,aspercentageofrobotmaximumspeed,parameterrange:0<vel<=100,forlinearorarcinterpolation,asabsoluterunningspeedatrobotend-effector,unit:mm/s,parameterrange:vel>1 accrobotrunacceleration,parameterrange:0<vel<=100,for joint interpolationtoroboteachjointmaximumaccelerationpercentage,for linear or arc interpolationtorobotCartesianmaximumaccelerationpercentage decrobotrundeceleration,parameterrange:0<vel<=100,for joint interpolationaspercentageofeachrobotjointmaximumdeceleration,for linear or arc interpolationaspercentageofrobotmaximumCartesiandeceleration plSmoothness;willsmoothlytransitionwiththenextmotioninstruction.Thelargerthevalue,thesmoother,butthegreaterthetrajectorydeviation,parameterrange:0<=pl<=5
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue

NRC_RunqueueInsertPALSHIFT

Function Prototype	intNRC_RunqueueInsertPALSHIFT(intid,intmoveType,intvel,intacc,intdec,intpl);
Description	Insert Pal Shift Instruction Into Run Queue.
Parameters	InputParameters: idPalletizingprocessnumber,parameterrange:1<=id<=99 moveTypeInterpolationmethodforthisinstruction:1-jointinterpolation2-linearinterpolation3-arcinterpolation velrobotrunningspeed,forjointinterpolation,aspercentageofrobotmaximumspeed,parameterrange:0<vel<=100,forlinearorarcinterpolation,asabsoluterunningspeedatrobotend-effector,unit:mm/s,parameterrange:vel>1 accrobotrunacceleration,parameterrange:0<vel<=100,for joint interpolationtoroboteachjointmaximumaccelerationpercentage,for linear or arc interpolationtorobotCartesianmaximumaccelerationpercentage decrobotrundeceleration,parameterrange:0<vel<=100,for joint interpolationaspercentageofeachrobotjointmaximumdeceleration,for linear or arc interpolationaspercentageofrobotmaximumCartesiandeceleration plSmoothness;willsmoothlytransitionwiththenextmotioninstruction.Thelargerthevalue,thesmoother,butthegreaterthetrajectorydeviation,parameterrange:0<=pl<=5
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue

NRC_RunqueueInsertPALREAL

Function Prototype	intNRC_RunqueueInsertPALREAL(intid,intmoveType,intvel,intacc,intdec,intpl);
Description	Insert Pal Real Instruction Into Run Queue.
Parameters	InputParameters: idPalletizingprocessnumber,parameterrange:1<=id<=99 moveTypeInterpolationmethodforthisinstruction:1-jointinterpolation2-linearinterpolation3-arcinterpolation velrobotrunningspeed,forjointinterpolation,aspercentageofrobotmaximumspeed,parameterrange:0<vel<=100,forlinearorarcinterpolation,asabsoluterunningspeedatrobotend-effector,unit:mm/s,parameterrange:vel>1 accrobotrunacceleration,parameterrange:0<vel<=100,for joint interpolationtoroboteachjointmaximumaccelerationpercentage,for linear or arc interpolationtorobotCartesianmaximumaccelerationpercentage decrobotrundeceleration,parameterrange:0<vel<=100,for joint interpolationaspercentageofeachrobotjointmaximumdeceleration,for linear or arc interpolationaspercentageofrobotmaximumCartesiandeceleration plSmoothness;willsmoothlytransitionwiththenextmotioninstruction.Thelargerthevalue,thesmoother,butthegreaterthetrajectorydeviation,parameterrange:0<=pl<=5
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue

NRC_RunqueueInsertTOFFSETON

Function Prototype	intNRC_RunqueueInsertTOFFSETON(constNRC_Position&data);
Description	Insert T Offset On Instruction Into Run Queue.
Parameters	InputParameters: dataOffsetvalue
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue MustbeusedwithNRC_RunqueueInsertTOFFSETOFF()together

NRC_RunqueueInsertTOFFSETOFF

Function Prototype	intNRC_RunqueueInsertTOFFSETOFF();
Description	Insert T Offset Off Instruction Into Run Queue.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue MustbeusedwithNRC_RunqueueInsertTOFFSETON(constNRC_Position&data)together

NRC_RunqueueInsertARCON

Function Prototype	intNRC_RunqueueInsertARCON(intid);
Description	Insert Arc On Instruction Into Run Queue.
Parameters	InputParameters: idpalletizingprocessnumber, parameterrange:1<=id<=99
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue MustbeusedwithNRC_RunqueueInsertARCOFF(intid)together

NRC_RunqueueInsertARCOFF

Function Prototype	intNRC_RunqueueInsertARCOFF(intid);
Description	Insert Arc Off Instruction Into Run Queue.
Parameters	InputParameters: idpalletizingprocessnumber, parameterrange:1<=id<=99
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue MustbeusedwithNRC_RunqueueInsertARCON(intid)together

NRC_RunqueueInsertCustomInstruction

Function Prototype	intNRC_RunqueueInsertCustomInstruction(intid,conststd::string&cmd_param="");
Description	Insert Custom Instruction Into Run Queue.
Parameters	InputParameters: idCustominstructionID cmd_paramCustominstructionidentifier
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue

NRC_JobfileInsertMOVJ

Function Prototype	intNRC_JobfileInsertMOVJ(intline,intvel,intacc,intdec,constNRC_Position&target,intpl=0,inttm=0);
Description	Insert Mo Vj Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) velRobotrunningspeedasapercentageofmaximumspeed,parameterrange:0<vel<=100 accRobotrunningaccelerationasapercentageofeachjoint'smaximumacceleration,parameterrange:0<vel<=100 decRobotrunningdecelerationasapercentageofeachjoint'smaximumdeceleration,parameterrange:0<vel<=100 targetRobotmotiontargetposition plSmoothness;willsmoothlytransitionwiththenextmotioninstruction.Thelargerthevalue,thesmoother,butthegreaterthetrajectorydeviation,parameterrange:0<=pl<=5 tmAdvanceexecutiontime;thenextinstructionstartsexecutingtmsecondsbeforethecurrentinstructionfinishes
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_JobfileInsertMOVL

Function Prototype	intNRC_JobfileInsertMOVL(intline,intvel,intacc,intdec,constNRC_Position&target,intpl=0,inttm=0);
Description	Insert Mo Vl Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) velRobotrunningspeedasapercentageofmaximumspeed,parameterrange:0<vel<=100 accRobotrunningaccelerationasapercentageofeachjoint'smaximumacceleration,parameterrange:0<vel<=100 decRobotrunningdecelerationasapercentageofeachjoint'smaximumdeceleration,parameterrange:0<vel<=100 targetRobotmotiontargetposition plSmoothness;willsmoothlytransitionwiththenextmotioninstruction.Thelargerthevalue,thesmoother,butthegreaterthetrajectorydeviation,parameterrange:0<=pl<=5 tmAdvanceexecutiontime;thenextinstructionstartsexecutingtmsecondsbeforethecurrentinstructionfinishes
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_JobfileInsertMOVS

Function Prototype	intNRC_JobfileInsertMOVS(intline,intvel,intacc,intdec,constNRC_Position&target,intpl=0,inttm=0);
Description	Insert Mo Vs Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) velRobotrunningspeedasapercentageofmaximumspeed,parameterrange:0<vel<=100 accRobotrunningaccelerationasapercentageofeachjoint'smaximumacceleration,parameterrange:0<vel<=100 decRobotrunningdecelerationasapercentageofeachjoint'smaximumdeceleration,parameterrange:0<vel<=100 targetRobotmotiontargetposition plSmoothness;willsmoothlytransitionwiththenextmotioninstruction.Thelargerthevalue,thesmoother,butthegreaterthetrajectorydeviation,parameterrange:0<=pl<=5 tmAdvanceexecutiontime;thenextinstructionstartsexecutingtmsecondsbeforethecurrentinstructionfinishes
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_JobfileInsertMOVC

Function Prototype	intNRC_JobfileInsertMOVC(intline,intvel,intacc,intdec,constNRC_Position&target,intpl=0,inttm=0);
Description	Insert Mo Vc Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) velRobotrunningspeedasapercentageofmaximumspeed,parameterrange:0<vel<=100 accRobotrunningaccelerationasapercentageofeachjoint'smaximumacceleration,parameterrange:0<vel<=100 decRobotrunningdecelerationasapercentageofeachjoint'smaximumdeceleration,parameterrange:0<vel<=100 targetRobotmotiontargetposition plSmoothness;willsmoothlytransitionwiththenextmotioninstruction.Thelargerthevalue,thesmoother,butthegreaterthetrajectorydeviation,parameterrange:0<=pl<=5 tmAdvanceexecutiontime;thenextinstructionstartsexecutingtmsecondsbeforethecurrentinstructionfinishes
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_JobfileInsertIMOV

Function Prototype	intNRC_JobfileInsertIMOV(intline,intvel,intacc,intdec,constNRC_Position&deviation,intpl=0,inttm=0);
Description	Insert Imov Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) velRobotrunningspeedasapercentageofmaximumspeed,parameterrange:0<vel<=100 accRobotrunningaccelerationasapercentageofeachjoint'smaximumacceleration,parameterrange:0<vel<=100 decRobotrunningdecelerationasapercentageofeachjoint'smaximumdeceleration,parameterrange:0<vel<=100 targetRobotmotiontargetposition plSmoothness;willsmoothlytransitionwiththenextmotioninstruction.Thelargerthevalue,thesmoother,butthegreaterthetrajectorydeviation,parameterrange:0<=pl<=5 tmAdvanceexecutiontime;thenextinstructionstartsexecutingtmsecondsbeforethecurrentinstructionfinishes
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile. Whendeviation.coordisNRC_ACS,thisinstructionusesjointinterpolation;whendeviation.coordisothervalues,linearinterpolationisused

NRC_JobfileInsertDOUT

Function Prototype	intNRC_JobfileInsertDOUT(intline,intport,intvalue,doubletime_sec);
Description	Insert D Out Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) portdigitaloutputPortnumbertooutput,parameterrange:port>0 valuePortoutputstatus0-Lowlevel1-Highlevel time_secDurationofportoutputstatus
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_JobfileInsertTIMER

Function Prototype	intNRC_JobfileInsertTIMER(intline,doubletimeSec);
Description	Insert Timer Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) timeSecDelaytimeinseconds,parameterrange:timeSec>0
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_JobfileInsertWAIT

Function Prototype	intNRC_JobfileInsertWAIT(intline,intport,intvalue,doubletimeoutSec,boolnow=false);
Description	Insert Wait Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) portdigitaloutputPortnumbertooutput,parameterrange:port>0 valuePortoutputstatus0-Lowlevel1-Highlevel timeoutSecTimeoutinseconds,parameterrange:timeSec>=0 ifstillnotsatisfiedafterwaitingtimeoutSecseconds,willnotcontinuewaiting,thisinstructionexecutionends,Ifvalueis0,willwaitunlimitedsecondsuntiltheconditionismet nowWhetherPLiscontinuous,true-continuous,false-non-continuous
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_JobfileInsertUNTIL

Function Prototype	intNRC_JobfileInsertUNTIL(intline,intport,intvalue);
Description	Insert Until Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) portdigitaloutputPortnumbertooutput,parameterrange:port>0 valuePortoutputstatus0-Lowlevel1-Highlevel
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile. MustbeusedwithNRC_JobfileInsertENDUNTIL(intline)together

NRC_JobfileInsertENDUNTIL

Function Prototype	intNRC_JobfileInsertENDUNTIL(intline);
Description	Insert End Until Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1)
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_JobfileInsertIF

Function Prototype	intNRC_JobfileInsertIF(intline,intport,intvalue);
Description	Insert If Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) portdigitaloutputPortnumbertooutput,parameterrange:port>0 valuePortoutputstatus0-Lowlevel1-Highlevel
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_JobfileInsertVarIF

Function Prototype	intNRC_JobfileInsertVarIF(intline,conststd::string&varName,NRC_JUDGEtype,doublevalue);
Description	Insert Parameterized If Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) varNameParametertocompare,e.g.“GI001” typeComparisonmethod valueValuetocompare
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_JobfileInsertWHILE

Function Prototype	intNRC_JobfileInsertWHILE(intline,intport,intvalue);
Description	Insert While Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) portdigitaloutputPortnumbertooutput,parameterrange:port>0 valuePortoutputstatus0-Lowlevel1-Highlevel
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile. MustbeusedwithNRC_JobfileInsertENDWHILE(intline)together!

NRC_JobfileInsertVarWHILE

Function Prototype	intNRC_JobfileInsertVarWHILE(intline,conststd::string&varName,NRC_JUDGEtype,doublevalue);
Description	Insert Parameterized While Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) varNameParametertocompare,e.g.“GI001” typeComparisonmethod valueValuetocompare
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile. MustbeusedwithNRC_JobfileInsertENDWHILE(intline)together!

NRC_JobfileInsertELSE

Function Prototype	intNRC_JobfileInsertELSE(intline);
Description	Insert Else Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1)
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile. MustbeusedwithNRC_JobfileInsertIF(intline,intport,intvalue),NRC_JobfileInsertENDIF(intline)together

NRC_JobfileInsertENDWHILE

Function Prototype	intNRC_JobfileInsertENDWHILE(intline);
Description	Insert End While Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1)
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile. MustbeusedwithNRC_JobfileInsertWHILE(intline,intport,intvalue)together!

NRC_JobfileInsertENDIF

Function Prototype	intNRC_JobfileInsertENDIF(intline);
Description	Insert End If Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1)
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile. MustbeusedwithNRC_JobfileInsertIF(intline,intport,intvalue)together

NRC_JobfileInsertPAUSERUN

Function Prototype	intNRC_JobfileInsertPAUSERUN(intline);
Description	Insert Pause Run Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1)
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile. MustbeusedwithNRC_JobfileInsertIF(intline,intport,intvalue)together

NRC_JobfileInsertCONTINUERUN

Function Prototype	intNRC_JobfileInsertCONTINUERUN(intline,intprogramtype,conststd::string&jobName);
Description	Insert Continue Run Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) programtypeProgramtype:1-Mainprogram2-Backgroundprogram jobNameProgramname
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_JobfileInsertSTOPRUN

Function Prototype	intNRC_JobfileInsertSTOPRUN(intline);
Description	Insert Stop Run Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1)
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile. MustbeusedwithNRC_JobfileInsertIF(intline,intport,intvalue)together

NRC_JobfileInsertRESTARTRUN

Function Prototype	intNRC_JobfileInsertRESTARTRUN(intline);
Description	Insert Restart Run Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1)
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile. MustbeusedwithNRC_JobfileInsertIF(intline,intport,intvalue)together

NRC_JobfileInsertCMDNOTE

Function Prototype	intNRC_JobfileInsertCMDNOTE(intline,conststd::stringnote);
Description	Insert Cm D Note Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) noteRemarkcontent
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_JobfileInsertPthreadStart

Function Prototype	intNRC_JobfileInsertPthreadStart(intline,conststd::string&jobName);
Description	InsertPTHREAD_STARTinstructionintojobfile.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) jobNameNameoflocalbackgroundprogramtostart
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_JobfileInsertPthreadEnd

Function Prototype	intNRC_JobfileInsertPthreadEnd(intline,conststd::string&jobName);
Description	InsertPTHREAD_ENDinstructionintojobfile.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) jobNameNameoflocalbackgroundprogramtostop
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_JobfileInsertSETVAR

Function Prototype	intNRC_JobfileInsertSETVAR(intline,std::stringvarName,doublevarValue);
Description	Insert Set Var Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) varNamevariablenametowrite,e.g.“GI001”,“B099” varValueValuetowrite
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_JobfileInsertOPCmd

Function Prototype	intNRC_JobfileInsertOPCmd(intline,conststd::string&varName,NRC_OPREATIONtype,doublevalue);
Description	Insert Opc Md Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) varNameOperationparameter typeOperationtype valueOperationvalue
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_JobfileInsertPALON

Function Prototype	intNRC_JobfileInsertPALON(intline,intid,inttype,intvar1=0,intvar2=0,intvar3=0);
Description	Insert Pal On Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) idRemarkcontent typePalletizingtype:0-palletizing1-depalletizing var1storecurrenttotalpalletizedworkpiececount,0meansdonotstore,1-100representsvariableGI001-GI100,parameterrange:0<=var1<=100 var2storescurrentpalletizedlayercount,0meansdonotstore,1-100representsvariableGI001-GI100,parameterrange:0<=var2<=100 var3storescurrentlayerworkpiececount,0meansdonotstore,1-100representsvariableGI001-GI100,parameterrange:0<=var3<=100
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile. MustbeusedwithNRC_JobfileInsertPALOFF(intline,intid,intvar)together

NRC_JobfileInsertPALOFF

Function Prototype	intNRC_JobfileInsertPALOFF(intline,intid,intvar=0);
Description	Insert Pal Off Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) idpalletizingprocessnumber,parameterrange:1<=id<=99 varVariabletostorewhetherpalletizingisfinished,0meansnotstored,1-100meansvariablesGB001-GB100,parameterrange:0<=var<=100
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile. MustbeusedwithNRC_JobfileInsertPALON(intline,intid,inttype,intvar1,intvar2,intvar3)together

NRC_JobfileInsertPALGRIPPER

Function Prototype	intNRC_JobfileInsertPALGRIPPER(intline,intid,inttool);
Description	Insert Pal Gripper Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) idpalletizingprocessnumber,parameterrange:1<=id<=99 toolGrippernumbertoswitchto,parameterrange:1<=id<=4
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_JobfileInsertPALCLEAR

Function Prototype	intNRC_JobfileInsertPALCLEAR(intline,intid);
Description	Insert Pal Clear Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) idpalletizingprocessnumber,parameterrange:1<=id<=99
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_JobfileInsertPALENTER

Function Prototype	intNRC_JobfileInsertPALENTER(intline,intid,intmoveType,intvel,intacc,intdec,intpl);
Description	Insert Pal Enter Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) idpalletizingprocessnumber,parameterrange:1<=id<=99 moveTypeInterpolationmethodforthisinstruction:1-jointinterpolation2-linearinterpolation3-arcinterpolation velrobotrunningspeed: forjointinterpolation,aspercentageofrobotmaximumspeed,parameterrange:0<vel<=100 forlinearorarcinterpolation,asabsoluterunningspeedatrobotend-effector,unit:mm/s,parameterrange:vel>1 accrobotrunacceleration,parameterrange:0<vel<=100 decrobotrundeceleration,parameterrange:0<vel<=100 plSmoothness;willsmoothlytransitionwiththenextmotioninstruction.Thelargerthevalue,thesmoother,butthegreaterthetrajectorydeviation,parameterrange:0<=pl<=5
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_JobfileInsertPALSHIFT

Function Prototype	intNRC_JobfileInsertPALSHIFT(intline,intid,intmoveType,intvel,intacc,intdec,intpl);
Description	Insert Pal Shift Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) idpalletizingprocessnumber,parameterrange:1<=id<=99 moveTypeInterpolationmethodforthisinstruction:1-jointinterpolation2-linearinterpolation3-arcinterpolation velrobotrunningspeed: forjointinterpolation,aspercentageofrobotmaximumspeed,parameterrange:0<vel<=100 forlinearorarcinterpolation,asabsoluterunningspeedatrobotend-effector,unit:mm/s,parameterrange:vel>1 accrobotrunacceleration,parameterrange:0<vel<=100 decrobotrundeceleration,parameterrange:0<vel<=100 plSmoothness;willsmoothlytransitionwiththenextmotioninstruction.Thelargerthevalue,thesmoother,butthegreaterthetrajectorydeviation,parameterrange:0<=pl<=5
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_JobfileInsertPALREAL

Function Prototype	intNRC_JobfileInsertPALREAL(intline,intid,intmoveType,intvel,intacc,intdec,intpl);
Description	Insert Pal Real Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) idpalletizingprocessnumber,parameterrange:1<=id<=99 moveTypeInterpolationmethodforthisinstruction:1-jointinterpolation2-linearinterpolation3-arcinterpolation velrobotrunningspeed: forjointinterpolation,aspercentageofrobotmaximumspeed,parameterrange:0<vel<=100 forlinearorarcinterpolation,asabsoluterunningspeedatrobotend-effector,unit:mm/s,parameterrange:vel>1 accrobotrunacceleration,parameterrange:0<vel<=100 decrobotrundeceleration,parameterrange:0<vel<=100 plSmoothness;willsmoothlytransitionwiththenextmotioninstruction.Thelargerthevalue,thesmoother,butthegreaterthetrajectorydeviation,parameterrange:0<=pl<=5
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_JobfileInsertTOFFSETON

Function Prototype	intNRC_JobfileInsertTOFFSETON(intline,constNRC_Position&data);
Description	Insert T Offset On Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) dataOffsetvalue
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile. MustbeusedwithNRC_JobfileInsertTOFFSETOFF(intline)together

NRC_JobfileInsertTOFFSETOFF

Function Prototype	intNRC_JobfileInsertTOFFSETOFF(intline);
Description	Insert T Offset Off Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1)
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile. MustbeusedwithNRC_JobfileInsertTOFFSETON(intline,constNRC_Position&data)together

NRC_JobfileInsertARCON

Function Prototype	intNRC_JobfileInsertARCON(intline,intid);
Description	Insert Arc On Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) idpalletizingprocessnumber,parameterrange:1<=id<=99
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile. MustbeusedwithNRC_JobfileInsertARCOFF(intline,intid)together

NRC_JobfileInsertARCOFF

Function Prototype	intNRC_JobfileInsertARCOFF(intline,intid);
Description	Insert Arc Off Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) idpalletizingprocessnumber,parameterrange:1<=id<=99
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile. MustbeusedwithNRC_JobfileInsertARCON(intline,intid)together

NRC_JobfileInsertCustomInstruction

Function Prototype	intNRC_JobfileInsertCustomInstruction(intline,intid,conststd::string&cmdParam="");
Description	Insert Custom Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) idCustominstructionID cmd_paramCustominstructionidentifier
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_GetRunqueueCurrentRunLine

Function Prototype	intNRC_GetRunqueueCurrentRunLine();
Description	Get The Current Running Line Number Of The Run Queue.
Parameters	None
Return Value	Return The Current Running Line Number Of The Run Queue
Notes	None

NRC_GetJobfileCurrentRunLine

Function Prototype	intNRC_GetJobfileCurrentRunLine();
Description	Get The Current Running Line Number Of The Job File.
Parameters	None
Return Value	Return The Current Running Line Number Of The Job File
Notes	None

NRC_GetCycleIndex

Function Prototype	intNRC_GetCycleIndex();
Description	Get The Total Number Of Times The Current Job File Should Run.
Parameters	None
Return Value	Return The Total Number Of Times The Current Job File Should Run
Notes	None

NRC_GetCycleCount

Function Prototype	intNRC_GetCycleCount();
Description	Get The Number Of Times The Current Job File Has Been Run.
Parameters	None
Return Value	Return The Number Of Times The Current Job File Has Been Run
Notes	None

NRC_GetCycleTimeSec

Function Prototype	intNRC_GetCycleTimeSec();
Description	Get The Time The Current Job File Has Been Running.
Parameters	None
Return Value	Return The Time The Current Job File Has Been Running
Notes	None

NRC_SetCycleIndex

Function Prototype	intNRC_SetCycleIndex(intindex);
Description	Set The Total Number Of Times The Current Job File Should Run.
Parameters	OutputParameters: indexTotalnumberoftimesthecurrentjobfileshouldrun, setto0forlooprunning, parameterrange:index>=0
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	None

NRC_RunqueueInsertMOVJEXT

Function Prototype	intNRC_RunqueueInsertMOVJEXT(intvel,intacc,intdec,constNRC_Position&target,constNRC_SyncPosition&targetSync,intpl=0,inttm=0);
Description	Insert Mo Vj Ext Instruction Into Run Queue.
Parameters	InputParameters: velRobotrunningspeedasapercentageofmaximumspeed,parameterrange:0<vel<=100 accRobotrunningaccelerationasapercentageofeachjoint'smaximumacceleration,parameterrange:0<vel<=100 decRobotrunningdecelerationasapercentageofeachjoint'smaximumdeceleration,parameterrange:0<vel<=100 targetRobotmotiontargetposition,seeNRC_Position targetSyncexternalaxismotion target position,seeNRC_SyncPosition plSmoothness;willsmoothlytransitionwiththenextmotioninstruction.Thelargerthevalue,thesmoother,butthegreaterthetrajectorydeviation,parameterrange:0<=pl<=5
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue

NRC_JobfileInsertMOVJEXT

Function Prototype	intNRC_JobfileInsertMOVJEXT(intline,intvel,intacc,intdec,constNRC_Position&target,constNRC_SyncPosition&targetSync,intpl=0,inttm=0);
Description	Insert Mo Vj Ext Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) velRobotrunningspeedasapercentageofmaximumspeed,parameterrange:0<vel<=100 accRobotrunningaccelerationasapercentageofeachjoint'smaximumacceleration,parameterrange:0<vel<=100 decRobotrunningdecelerationasapercentageofeachjoint'smaximumdeceleration,parameterrange:0<vel<=100 targetRobotmotiontargetposition,seeNRC_Position targetSyncexternalaxismotion target position,seeNRC_SyncPosition plSmoothness;willsmoothlytransitionwiththenextmotioninstruction.Thelargerthevalue,thesmoother,butthegreaterthetrajectorydeviation,parameterrange:0<=pl<=5
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_RunqueueInsertMOVLEXT

Function Prototype	intNRC_RunqueueInsertMOVLEXT(intvel,intacc,intdec,constNRC_Position&target,constNRC_SyncPosition&targetSync,intpl=0,inttm=0);
Description	Insert Mo Vl Ext Instruction Into Run Queue.
Parameters	InputParameters: velRobotrunningspeedasapercentageofmaximumspeed,parameterrange:0<vel<=100 accRobotrunningaccelerationasapercentageofeachjoint'smaximumacceleration,parameterrange:0<vel<=100 decRobotrunningdecelerationasapercentageofeachjoint'smaximumdeceleration,parameterrange:0<vel<=100 targetRobotmotiontargetposition,seeNRC_Position targetSyncexternalaxismotion target position,seeNRC_SyncPosition plSmoothness;willsmoothlytransitionwiththenextmotioninstruction.Thelargerthevalue,thesmoother,butthegreaterthetrajectorydeviation,parameterrange:0<=pl<=5
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue

NRC_JobfileInsertMOVLEXT

Function Prototype	intNRC_JobfileInsertMOVLEXT(intline,intvel,intacc,intdec,constNRC_Position&target,constNRC_SyncPosition&targetSync,intpl=0,inttm=0);
Description	Insert Mo Vl Ext Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) velRobotrunningspeedasapercentageofmaximumspeed,parameterrange:0<vel<=100 accRobotrunningaccelerationasapercentageofeachjoint'smaximumacceleration,parameterrange:0<vel<=100 decRobotrunningdecelerationasapercentageofeachjoint'smaximumdeceleration,parameterrange:0<vel<=100 targetRobotmotiontargetposition,seeNRC_Position targetSyncexternalaxismotion target position,seeNRC_SyncPosition plSmoothness;willsmoothlytransitionwiththenextmotioninstruction.Thelargerthevalue,thesmoother,butthegreaterthetrajectorydeviation,parameterrange:0<=pl<=5
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_RunqueueInsertMOVCEXT

Function Prototype	intNRC_RunqueueInsertMOVCEXT(intvel,intacc,intdec,constNRC_Position&target,constNRC_SyncPosition&targetSync,intpl=0,inttm=0);
Description	Insert M Ovce Xt Instruction Into Run Queue.
Parameters	InputParameters: velRobotrunningspeedasapercentageofmaximumspeed,parameterrange:0<vel<=100 accRobotrunningaccelerationasapercentageofeachjoint'smaximumacceleration,parameterrange:0<vel<=100 decRobotrunningdecelerationasapercentageofeachjoint'smaximumdeceleration,parameterrange:0<vel<=100 targetRobotmotiontargetposition,seeNRC_Position targetSyncexternalaxismotion target position,seeNRC_SyncPosition plSmoothness;willsmoothlytransitionwiththenextmotioninstruction.Thelargerthevalue,thesmoother,butthegreaterthetrajectorydeviation,parameterrange:0<=pl<=5
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateNoFlieRunqueue()tocreateafile-lessrunqueue

NRC_JobfileInsertMOVCEXT

Function Prototype	intNRC_JobfileInsertMOVCEXT(intline,intvel,intacc,intdec,constNRC_Position&target,constNRC_SyncPosition&targetSync,intpl=0,inttm=0);
Description	Insert M Ovce Xt Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) velRobotrunningspeedasapercentageofmaximumspeed,parameterrange:0<vel<=100 accRobotrunningaccelerationasapercentageofeachjoint'smaximumacceleration,parameterrange:0<vel<=100 decRobotrunningdecelerationasapercentageofeachjoint'smaximumdeceleration,parameterrange:0<vel<=100 targetRobotmotiontargetposition,seeNRC_Position targetSyncexternalaxismotion target position,seeNRC_SyncPosition plSmoothness;willsmoothlytransitionwiththenextmotioninstruction.Thelargerthevalue,thesmoother,butthegreaterthetrajectorydeviation,parameterrange:0<=pl<=5
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Beforecallingthisfunction,pleasefirstcallNRC_CreateJobfile(std::stringjobname)orNRC_OpenJobfile(std::stringjobname)tocreateoropenajobfile.

NRC_JobfileInsertPOSCALALL

Function Prototype	intNRC_JobfileInsertPOSCALALL(intline,std::stringpos_name,constNRC_Position&change,constNRC_SyncPosition&sync_change);
Description	Insert Position Bulk Modify Instruction Into Job File.
Parameters	InputParameters: lineInsertinstructionatthespecifiedline.Valuerange:0<line<=(NRC_GetJobfileLineSum()+1) pos_nameGlobalpointnametomodify,range"GE0001"~"GE9999" changeseeNRC_Position(NRC_COORDcoo,intusr,inttool,intcon,doubleaxis_pos1,doubleaxis_pos2,doubleaxis_pos3,doubleaxis_pos4,doubleaxis_pos5,doubleaxis_pos6,doubleaxis_pos7) sync_changeseeNRC_SyncPosition
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Note:Forbothchangeandsync_change,non-existentaxesmustbepassedas99999

NRC_RunqueueInsertPOSCALALL

Function Prototype	intNRC_RunqueueInsertPOSCALALL(std::stringpos_name,constNRC_Position&change,constNRC_SyncPosition&sync_change);
Description	Insert Position Bulk Modify Instruction Into Run Queue.
Parameters	InputParameters: pos_nameGlobalpointnametomodify,range"GE0001"~"GE9999" changeseeNRC_Position(NRC_COORDcoo,intusr,inttool,intcon,doubleaxis_pos1,doubleaxis_pos2,doubleaxis_pos3,doubleaxis_pos4,doubleaxis_pos5,doubleaxis_pos6,doubleaxis_pos7) sync_changeseeNRC_SyncPosition
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Notes	Note:Forbothchangeandsync_change,non-existentaxesmustbepassedas99999