Secondary Development API (Palletizing Process)
This chapter covers the palletizing process parameter settings and control interfaces.
Function Index
| Function | Description |
|---|---|
| NRC_Pallet_SetUsePalletType / NRC_Pallet_GetUsePalletType | Switch between simple/full palletizing |
| NRC_Pallet_SetGripperParm / NRC_Pallet_GetGripperParm | Gripper parameters |
| NRC_Pallet_SetSimplePosParm / NRC_Pallet_GetSimplePosParm | Simple palletizing position parameters |
| NRC_Pallet_SetSimpleNumParm / NRC_Pallet_GetSimpleNumParm | Simple palletizing quantity parameters |
| NRC_Pallet_ClearCurrentStatus | Clear palletizing status |
| NRC_Pallet_SetPalletedWpNum / NRC_Pallet_GetPalletedWpNum | Palletized workpiece count |
NRC_Pallet_SetUsePalletType
| Function Prototype | int NRC_Pallet_SetUsePalletType(int id, int type); |
|---|---|
| Description | Sets whether to use simple palletizing or full palletizing. |
| Parameters | Input Parameters: id Palletizing process ID, range: 1 <= id <= 99 type Palletizing type to use 0-Simple Palletizing 1-Full Palletizing |
| Return Value | 0: Function call succeeded -101: Invalid input parameter -102: Target object does not exist, typically returned when system initialization is incomplete -103: Target object is currently in an inoperable state |
| Notes | None |
| --- | --- |
NRC_Pallet_GetUsePalletType
| Function Prototype | int NRC_Pallet_GetUsePalletType(int id); |
|---|---|
| Description | Gets whether simple palletizing or full palletizing is being used. |
| Parameters | Input Parameters: id Palletizing process ID, range: 1 <= id <= 99 |
| Return Value | Palletizing type in use: 0-Simple Palletizing 1-Full Palletizing |
| Notes | None |
NRC_Pallet_SetGripperParm
| Function Prototype | int NRC_Pallet_SetGripperParm(int id, int gripperSum, int gripper[4]); |
|---|---|
| Description | Sets palletizing gripper data. |
| Parameters | Input Parameters: id Palletizing process ID, range: 1 <= id <= 99 gripperSum Total number of available grippers, range: 1 <= gripperSum <= 4 gripper Tool coordinate number bound to each gripper, 1 <= gripper[i] <= 9 |
| Return Value | 0: Function call succeeded -101: Invalid input parameter -102: Target object does not exist, typically returned when system initialization is incomplete -103: Target object is currently in an inoperable state |
| Notes | None |
| --- | --- |
NRC_Pallet_GetGripperParm
| Function Prototype | int NRC_Pallet_GetGripperParm(int id, int &gripperSum, int &gripper[4]); |
|---|---|
| Description | Gets palletizing gripper data. |
| Parameters | Input Parameters: id Palletizing process ID, range: 1 <= id <= 99 Output Parameters: gripperSum Retrieved total number of available grippers gripper Retrieved tool coordinate number bound to each gripper |
| Return Value | 0: Function call succeeded -101: Invalid input parameter |
| --- | --- |
| -102: Target object does not exist, typically returned when system initialization is incomplete | |
| -103: Target object is currently in an inoperable state | |
| Notes | None |
| --- | --- |
NRC_Pallet_SetSimplePosParm
| Function Prototype | int NRC_Pallet_SetSimplePosParm(int id, int posType, NRC_Position pos); |
|---|---|
| Description | Sets simple palletizing position data. |
| Parameters | Input Parameters: id Palletizing process ID, range: 1 <= id <= 99 posType Position type for simple palletizing: - 0 Starting workpiece point - 1 Column end - 2 Row end - 3 Height end - 4 Starting auxiliary point - 5 Starting entry point pos Position data |
| Return Value | 0: Function call succeeded -101: Invalid input parameter -102: Target object does not exist, typically returned when system initialization is incomplete -103: Target object is currently in an inoperable state |
| Notes | None |
| --- | --- |
NRC_Pallet_GetSimplePosParm
| Function Prototype | int NRC_Pallet_GetSimplePosParm(int id, int posType, NRC_Position& pos); |
|---|---|
| Description | Gets simple palletizing position data. |
| Parameters | Input Parameters: id Palletizing process ID, range: 1 <= id <= 99 posType Position type for simple palletizing: - 0 Starting workpiece point - 1 Column end - 2 Row end - 3 Height end - 4 Starting auxiliary point - 5 Starting entry point Output Parameters: pos Position data |
| Return Value | 0: Function call succeeded -101: Invalid input parameter |
| --- | --- |
| -102: Target object does not exist, typically returned when system initialization is incomplete | |
| -103: Target object is currently in an inoperable state | |
| Notes | None |
| --- | --- |
NRC_Pallet_SetSimpleNumParm
| Function Prototype | int NRC_Pallet_SetSimpleNumParm(int id, int numX, int numY, int numZ); |
|---|---|
| Description | Sets simple palletizing count data. |
| Parameters | Input Parameters: id Palletizing process ID, range: 1 <= id <= 99 numX Number of workpieces in the X direction of the simple palletizing tray (corresponding to the X direction of the user coordinate), i.e., number of rows numY Number of workpieces in the Y direction of the simple palletizing tray (corresponding to the Y direction of the user coordinate), i.e., number of columns numZ Number of workpieces in the Z direction of the simple palletizing tray (corresponding to the Z direction of the user coordinate), i.e., number of layers |
| Return Value | 0: Function call succeeded -101: Invalid input parameter -102: Target object does not exist, typically returned when system initialization is incomplete -103: Target object is currently in an inoperable state |
| Notes | None |
| --- | --- |
NRC_Pallet_GetSimpleNumParm
| Function Prototype | int NRC_Pallet_GetSimpleNumParm(int id, int& numX, int& numY, int& numZ); |
|---|---|
| Description | Gets simple palletizing count data. |
| Parameters | Input Parameters: id Palletizing process ID, range: 1 <= id <= 99 Output Parameters: numX Number of workpieces in the X direction of the simple palletizing tray (corresponding to the X direction of the user coordinate), i.e., number of rows numY Number of workpieces in the Y direction of the simple palletizing tray (corresponding to the Y direction of the user coordinate), i.e., number of columns numZ Number of workpieces in the Z direction of the simple palletizing tray (corresponding to the Z direction of the user coordinate), i.e., number of layers |
| Return Value | 0: Function call succeeded -101: Invalid input parameter |
| --- | --- |
| -102: Target object does not exist, typically returned when system initialization is incomplete | |
| -103: Target object is currently in an inoperable state | |
| Notes | None |
| --- | --- |
NRC_Pallet_ClearCurrentStatus
| Function Prototype | int NRC_Pallet_ClearCurrentStatus(int id); |
|---|---|
| Description | Clears the current palletizing status. |
| Parameters | Input Parameters: id Palletizing process ID, range: 1 <= id <= 99 |
| Return Value | 0: Function call succeeded -101: Invalid input parameter -102: Target object does not exist, typically returned when system initialization is incomplete -103: Target object is currently in an inoperable state |
| Notes | None |
| --- | --- |
NRC_Pallet_SetPalletedWpNum
| Function Prototype | int NRC_Pallet_SetPalletedWpNum(int id, int layerNum, int layerPalletedWpNum); |
|---|---|
| Description | Sets the number of palletized workpieces. |
| Parameters | Input Parameters: id Palletizing process ID, range: 1 <= id <= 99 layerNum The number of palletized layers to modify layerPalletedWpNum The number of palletized workpieces in the layer to modify |
| Return Value | 0: Function call succeeded -101: Invalid input parameter -102: Target object does not exist, typically returned when system initialization is incomplete -103: Target object is currently in an inoperable state |
| Notes | None |
| --- | --- |
NRC_Pallet_GetPalletedWpNum
| Function Prototype | int NRC_Pallet_GetPalletedWpNum(int id, int& curPalletedWpSum, int& curLayerNum, int& curLayerPalletedWpNum, int& totalWpNum, int& totalLayerNum, int& curLayerWpSum); |
|---|---|
| Description | Gets the number of palletized workpieces. |
| Parameters | Input Parameters: id Palletizing process ID, range: 1 <= id <= 99 Output Parameters: curPalletedWpSum Current number of palletized workpieces curLayerNum Current number of palletized layers curLayerPalletedWpNum Current number of palletized workpieces in the current layer totalWpNum Total number of workpieces in the pallet stack totalLayerNum Total number of layers in the pallet stack curLayerWpSum Total number of workpieces in the current layer |
| Return Value | 0: Function call succeeded -101: Invalid input parameter |
| --- | --- |
| -102: Target object does not exist, typically returned when system initialization is incomplete | |
| -103: Target object is currently in an inoperable state | |
| Notes | For the 6 parameters used as return values, a value of -1 indicates that the count is unknown |
| --- | --- |