Custom Instructions

The controller secondary development demo is in the Controller SDK under related downloads, download it yourself

1. Introduction to Interface Functions Used by Custom Instructions

The following functions are all included in the SDK header files:

/**
 * @brief MOVJ instruction for custom job file instruction calls, cannot be called directly
 * @param robotNum Robot number [1-4]
 * @param pos  Robot motion target position, see NRC_Position
 * @param vel Robot motion speed, as a percentage of the robot's maximum speed, range: 0 < vel <= 100
 * @param acc Robot motion acceleration, as a percentage of each joint's maximum acceleration, range: 0 < vel <= 100
 * @param dec Robot motion deceleration, as a percentage of each joint's maximum deceleration, range: 0 < vel <= 100
 * @param pl Smoothness, will smooth-transition with the next motion instruction. Higher values mean smoother with larger trajectory deviation, range: 0 <= pl <= 5
 * @param moveToNextLine Whether to advance to the next line, only set moveToNextLine to true for the last instruction
 */
void NRC_Jobrun_MoveDirect(int robotNum, const NRC_Position & pos, double vel,  double acc, double dec, int pl, bool moveToNextLine = false);


/**
 * @brief MOVL instruction for custom job file instruction calls, cannot be called directly
 * @param robotNum Robot number [1-4]
 * @param pos  Robot motion target position, see NRC_Position
 * @param vel Robot motion speed, absolute speed of the robot end point position, in millimeters per second (mm/s), range: vel > 1
 * @param acc Robot motion acceleration, as a percentage of each joint's maximum acceleration, range: 0 < vel <= 100
 * @param dec Robot motion deceleration, as a percentage of each joint's maximum deceleration, range: 0 < vel <= 100
 * @param pl Smoothness, will smooth-transition with the next motion instruction. Higher values mean smoother with larger trajectory deviation, range: 0 <= pl <= 5
 * @param moveToNextLine Whether to advance to the next line, only set moveToNextLine to true for the last instruction
 */
void NRC_Jobrun_MoveLinear(int robotNum, const NRC_Position & pos, double vel, double acc, double dec, int pl, bool moveToNextLine = false);


/**
 * @brief MOVC instruction for custom job file instruction calls, cannot be called directly
 * @param robotNum Robot number [1-4]
 * @param mid_pos,end_pos  Robot motion target positions, see NRC_Position
 * @param vel Robot motion speed, absolute speed of the robot end point position, in millimeters per second (mm/s), range: vel > 1
 * @param acc Robot motion acceleration, as a percentage of each joint's maximum acceleration, range: 0 < vel <= 100
 * @param dec Robot motion deceleration, as a percentage of each joint's maximum deceleration, range: 0 < vel <= 100
 * @param pl Smoothness, will smooth-transition with the next motion instruction. Higher values mean smoother with larger trajectory deviation, range: 0 <= pl <= 5
 * @param moveToNextLine Whether to advance to the next line, only set moveToNextLine to true for the last instruction
 * @note Note: MOVC cannot be run as the first instruction, and must be preceded by a MOVJ or MOVL instruction on the first call
 */
void NRC_Jobrun_MoveC(int robotNum, const NRC_Position& mid_pos,const NRC_Position& end_pos, double vel, double acc, double dec, int pl, bool moveToNextLine = false);


/**
 * @brief MOVS instruction for custom job file instruction calls, cannot be called directly
 * @param robotNum Robot number [1-4]
 * @param pos Robot motion target position container, size must not be less than 4 (i.e., pos.size() >= 4), see NRC_Position for position settings
 * @param vel Robot motion speed, absolute speed of the robot end point position, in millimeters per second (mm/s), range: vel > 1
 * @param acc Robot motion acceleration, as a percentage of each joint's maximum acceleration, range: 0 < vel <= 100
 * @param dec Robot motion deceleration, as a percentage of each joint's maximum deceleration, range: 0 < vel <= 100
 * @param pl Smoothness, will smooth-transition with the next motion instruction. Higher values mean smoother with larger trajectory deviation, range: 0 <= pl <= 5
 * @param moveToNextLine Whether to advance to the next line, only set moveToNextLine to true for the last instruction
 * @note Note: MOVS cannot be run as the first instruction, and must be preceded by a MOVJ or MOVL instruction on the first call
 */
void NRC_Jobrun_MoveS(int robotNum, int pointNum, const std::vector< NRC_Position>& pos, double vel, double acc, double dec, int pl, bool moveToNextLine = false);


/**
 * @brief IMOV instruction for custom job file instruction calls, cannot be called directly
 * @param robotNum Robot number [1-4]
 * @param pos Robot motion target position container, size must not be less than 4 (i.e., pos.size() >= 4), see NRC_Position for position settings
 * @param vel Robot motion speed, absolute speed of the robot end point position, in millimeters per second (mm/s), range: vel > 1
 * @param acc Robot motion acceleration, as a percentage of each joint's maximum acceleration, range: 0 < vel <= 100
 * @param dec Robot motion deceleration, as a percentage of each joint's maximum deceleration, range: 0 < vel <= 100
 * @param pl Smoothness, will smooth-transition with the next motion instruction. Higher values mean smoother with larger trajectory deviation, range: 0 <= pl <= 5
 * @param moveToNextLine Whether to advance to the next line, only set moveToNextLine to true for the last instruction
 * @param tm Pre-execution time, range: [0,999999], can be omitted, defaults to 0
 * @note Note: IMOV cannot be run as the first instruction, it must be preceded by a motion instruction
 */
int NRC_Jobrun_IMOV(int robotNum, const NRC_Position& offset, double vel, double acc, double dec, int pl, int tm = 0, bool moveToNextLine = false);


/**
 * @brief MOVJEXT instruction for custom job file instruction calls, cannot be called directly
 * @param robotNum Robot number [1-4]
 * @param pos  Robot motion target position, see NRC_Position
 * @param syncPos  Robot motion target position, see NRC_SyncPosition
 * @param vel Robot motion speed, as a percentage of the robot's maximum speed, range: 0 < vel <= 100
 * @param acc Robot motion acceleration, as a percentage of each joint's maximum acceleration, range: 0 < vel <= 100
 * @param dec Robot motion deceleration, as a percentage of each joint's maximum deceleration, range: 0 < vel <= 100
 * @param pl Smoothness, will smooth-transition with the next motion instruction. Higher values mean smoother with larger trajectory deviation, range: 0 <= pl <= 5
 * @param moveToNextLine Whether to advance to the next line, only set moveToNextLine to true for the last instruction
 */
void NRC_Jobrun_MoveDirectSync(int robotNum, const NRC_Position & pos, const NRC_SyncPosition & syncPos, double vel, double acc, double dec, int pl, bool moveToNextLine = false);


/**
 * @brief MOVLEXT instruction for custom job file instruction calls, cannot be called directly
 * @param robotNum Robot number [1-4]
 * @param pos  Robot motion target position, see NRC_Position
 * @param syncPos  Robot motion target position, see NRC_SyncPosition
 * @param vel Robot motion speed, absolute speed of the robot end point position, in millimeters per second (mm/s), range: vel > 1
 * @param acc Robot motion acceleration, as a percentage of each joint's maximum acceleration, range: 0 < vel <= 100
 * @param dec Robot motion deceleration, as a percentage of each joint's maximum deceleration, range: 0 < vel <= 100
 * @param pl Smoothness, will smooth-transition with the next motion instruction. Higher values mean smoother with larger trajectory deviation, range: 0 <= pl <= 5
 * @param moveToNextLine Whether to advance to the next line, only set moveToNextLine to true for the last instruction
 * @param sync Whether to synchronize
 */
void NRC_Jobrun_MoveLinearSync(int robotNum, const NRC_Position & pos, const NRC_SyncPosition & syncPos, double vel, double acc, double dec, int pl, int sync, bool moveToNextLine = false);

2. Custom Instruction Function Usage Example

#include "nrcAPI.h"
#include "nrcAPI_advance.h"
#include "json/json.h"
#include <atomic>
#include <chrono>
#include <cstdlib>
#include <iostream>
#include <mutex>
#include <sstream>
#include <stdio.h>
#include <string>
#include <thread>
#include <unistd.h>
#include <vector>
#include <functional>
#include <cstdint>
#include <cstring>
#include <fstream>




using namespace std;


bool test_cmd(int line, const std::string &paramStr, const std::string &posName) {
  int robotNum = 1;             // Robot 1
  NRC_Position pos1 = {NRC_ACS, 40, 0, 0, 0, 0, 0};
  NRC_Position pos2 = {NRC_ACS, 0, 0, 0, 0, 0, 0};
  NRC_Position pos3 = {NRC_ACS, -40, 0, 0, 0, 0, 0};       // Robot motion target positions
  NRC_Jobrun_MoveDirect(robotNum, pos1, 50, 80, 80, 5);
  NRC_Jobrun_MoveDirect(robotNum, pos2, 50, 80, 80, 5);
  NRC_Jobrun_MoveDirect(robotNum, pos3, 50, 80, 80, 5, true);    // Last instruction needs advance to next line, pass true to moveToNextLine
}


int main() {
  // Output Nexmotion library version info
  std::cout << "Library version: " << NRC_GetNexMotionLibVersion() << std::endl;


  // Start the control system
  NRC_StartController();


  // Block until system initialization is complete
  while (NRC_GetControlInitComplete() != 1 )
  {
    NRC_Delayms(100);
  }
  NRC_ClearServoError();
  NRC_SetServoReadyStatus(1);
  NRC_Delayms(2000);
  NRC_SetJobFileCustomInstructionCB(test_cmd);     // Register custom instruction callback function
  while (1) // Keep the secondary development program running
  {
    NRC_Delayms(1000);
  }
}

3. Running Custom Instructions

Custom instructions are only available in secondary development teach pendants. Users can download the corresponding teach pendant secondary development package from related downloads.