Secondary Development API(Robot Basic Parameters Settings)

This Chapter Covers System Initialization, servo control, motion control, Coordinate System Calibration, IO Communication, variable management, callback functions, and other core interfaces.

Function Category Index

System And Initialization

Function	Description
NRC_StartController	Start Controller
NRC_GetControlInitComplete	Wait For Initialization To Complete
NRC_SetOperationMode	Set Operation Mode(Teach0/Remote1/Auto2)
NRC_RebootController	Reboot Controller
NRC_RestoreFactorySettings	Restore Factory Settings
NRC_ModifyControllerIP	Modify Controller IP
NRC_GetRobotSum	Get Robot Count
NRC_SetRobotMode	Set Multi-robot mode
NRC_ShieldedTeachingPendant	Disable Teach Pendant Connection Detection(must be called before startup)
NRC_GetNexMotionLibVersion	Get Library Version
NRC_GetSyncVersion	Get Sync Version Number
NRC_Delayms	Delay(milliseconds)
NRC_LogInfo	Print Log

Servo Control

Function	Description
NRC_PowerOn/NRC_PowerOff	Servo Power On/off
NRC_ServoEnable/NRC_ServoDisable	Enable/disable servo in teach mode(requires deadman switch)
NRC_SetServoReadyStatus	Switch Servo Ready Status
NRC_GetServoStatus	Get Servo Status(0-Disabled1-Ready2-Alarm3-Enabled)
NRC_GetPowerOffSaveSignal	Get Power Status
NRC_ClearServoError/NRC_ClearAllError	Clear Servo/all errors

Motion Control

Function	Description
NRC_RobotMoveJoint	Robot Point-to-point motion
NRC_RobotMoveJointSync	Robot External Axis Point-to-point motion
NRC_RobotMoveLineSync	Robot Linear Motion(body+externalaxis)
NRC_JogMove/NRC_JogMoveStop/NRC_JogMoveStopAll	Jog Control
NRC_StartResetPoint	Return To Reset Point
NRC_SetTargetVelocity	Set Target Velocity(PVmode)
NRC_PosReachable	Check If Position Is Reachable
NRC_SetTargetPosition	Set Robot Target Position
NRC_GetPlanningPosition	Get First Position In Planning Queue
NRC_PV_SetTargetVelocity/NRC_PV_SetTargetAccAndDec	Pv Mode Velocity/acceleration

Speed Control

Function	Description
NRC_SetTeachRunSpeedPer/NRC_GetTeachRunSpeedPer	Teach Speed Percentage
NRC_SetAutoRunSpeedPer/NRC_GetAutoRunSpeedPer	Auto Speed Percentage
NRC_GetAngularVel	Get Joint Angular Velocity(rad/s)
NRC_GetLinerVel	Get Linear Velocity(mm/s)
NRC_GetAxisVelSync	Get External Axis Velocity

Jog Configuration

Function	Description
NRC_SetJogJointSpeedConfig/NRC_GetJogJointSpeedConfig	Jog Joint Speed
NRC_SetJogRectangularSpeedConfig/NRC_GetJogRectangularSpeedConfig	Jog Cartesian Speed
NRC_SetJogSensitivitySpeedConfig	Jog Sensitivity
NRC_SetJogMoveCalculateNum	Jog Interpolation Point Count

Coordinate System And Calibration

Function	Description
NRC_SetCurrentCoord/NRC_GetCurrentCoord	Switch/get current coordinate system
NRC_PositionACStoMCS/NRC_PositionMCStoACS	Joint↔Cartesiancoordinateconversion
NRC_TcpCalculate	TCP Fixed Distance Offset Calculation

Tool:

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

UserCoordinate:

Function	Description
NRC_SetUserCoordParm/NRC_GetUserCoordParm	Set/get user coordinate parameters
NRC_CalibrationUserCoord	User Coordinate Calibration(3-pointmethod)
NRC_SwitchUserCoord/NRC_GetCurrentUserCoord	Switch/get current user coordinate

Position And Zero Point

Function	Description
NRC_GetCurrentPos/NRC_Rbt_GetCurrentPos	Get Current Position
NRC_GetOtherToolPos	Get Position Under Other Tool Coordinate System
NRC_GetEncoderPosition	Get Encoder Position
NRC_SetCurrentPosToZeroPos/NRC_Rbt_SetCurrentPosToZeroPos	Set Zero Point/clearmulti-turnvalue
NRC_Rbt_SetSingleCircleValue/NRC_Rbt_GetSingleCircleValue	Set/getsingle-turnvalue

External Axis

Function	Description
NRC_SetSyncJointNum	Set External Axis Count
NRC_SetSyncJointPara/NRC_GetSyncJointPara	Set/get external axis parameters
NRC_SetSyncGroupCarbinarion/NRC_CalSyncCalibrationResult	External Axis Calibration
NRC_SetCurrentSyncPosToZeroPos	External Axis Zero Point Setting
NRC_SingleSyncAxisMoveJConstVel_For_CustomInstructionCB	External Axis Constant Velocity Motion
NRC_GetCurrentSyncPos/NRC_Rbt_GetCurrentSyncPos	Get External Axis Position

Torque And Dynamics

Function	Description
NRC_SetTargetTorque/NRC_GetActualTorque	Set/get torque
NRC_GetActualCurrent/NRC_GetMaxCurrent	Current Control
NRC_GetRatedTorque/NRC_GetTorq	Rated Torque
NRC_SetIdentityParam	Set Dynamics Identification Parameters
NRC_RunSafeCheckProgram/NRC_RunIdentifyProgram	Safety Check/dynamics identification
NRC_SetCollisionParam/NRC_SetCollisionSwitch	Collision Detection

IO Control

Function	Description
NRC_DigOut/NRC_DigOutByBoard	Digital Output
NRC_ReadDigOut/NRC_ReadDigOutByBoard	Read Digital Output
NRC_ReadDigIn/NRC_ReadDigInByBoard	Read Digital Input
NRC_AnaOut/NRC_ReadAnaOut/NRC_ReadAnaIn	Analog IO

Communication Interface

Function	Description
NRC_SetCANBaudRate/NRC_SendCANData	CAN Communication
NRC_SetCommunicationParam/NRC_SetCommunicationStatus	TCP Communication Parameters
NRC_SetTcpMessageCallback	TCP Message Callback
NRC_CommSendMessage	Send TCP Message
NRC_GetModbusSlaveConnectStatus/NRC_GetModbusMasterConnectStatus	Mod Bus Status
NRC_SetSocketCustomProtocalCB/NRC_SendSocketCustomProtocal	Custom Socket Protocol

Messages And Errors

Function	Description
NRC_SetMsgHappenCallback	Message Occurrence Callback
NRC_FirstMessagePop/NRC_LastMessagePop	Pop First/last message
NRC_GetMessage/NRC_GetMessageSize	Get Message
NRC_ClearMessage	Clear Message Queue
NRC_TriggerErrorReport	Actively Trigger Error Report

Variable Management

Function	Description
NRC_SetBoolVar/NRC_ReadBoolVar	Boo L Variables
NRC_SetIntVar/NRC_ReadIntVar	In T Variables
NRC_SetDoubleVar/NRC_ReadDoubleVar	Double Variables
NRC_SetGlobalPositionVariable/NRC_GetGlobalPositionVariable	Global Position Variable
NRC_SetGlobalPositionVariableNote/NRC_GetGlobalPositionVariableNote	Global Position Variable Comment
NRC_GetCurrentTime	Get Current Time

Robot Parameters

Function	Description
NRC_SetRobotTypeConfig/NRC_GetRobotTypeConfig	Robot Type
NRC_Rbt_SetRobotTypeConfig/NRC_Rbt_GetRobotTypeConfig	Robot Type(multi-robotversion)
NRC_SetRobotDHConfig/NRC_GetRobotDHConfig	Dh Parameters
NRC_SetRobotJointConfig	Joint Parameters
NRC_SetRobotDecareConfig/NRC_GetRobotDecareConfig	Cartesian Parameters
NRC_CalcConfiguration	Calculate Robot Configuration
NRC_GetRobotAxisSum	Get Robot Axis Count
NRC_GetSyncAxisSum	Get External Axis Count
NRC_SetRobotRangeLimit/NRC_GetRobotRangeLimit	Range Limits
NRC_SetServoMapRelation/NRC_SetAllServoMapRelation	Servo Map Relationships
NRC_GetConnectServoTypeList	Get Connected Servo Types
NRC_GetSlaveNumByID	Get Slave Number By ID
NRC_GetPDOAddrMap	Get P Do Mapping Address
NRC_GetEthercatIOConfig	Get Ether Cat IO Configuration
NRC_EnableCustomIOFunction	Enable Custom IO Function
NRC_SetCustomIODoutConfig/NRC_SetCustomIODinConfig	Custom IO D Out/d in configuration
NRC_SetCheckExioEnable	Built-in tcp interface extended IO detection

Motion Auxiliary Parameters

Function	Description
NRC_SetInterpolationMethod	Set Interpolation Method(S-curve/trapezoidal)
NRC_SetAbsolutePosResolution	Absolute Position Resolution
NRC_SetDynamicTrackingErrorMaxAllow	Dynamic Tracking Error Value
NRC_SetStaticTrackingErrorMaxAllow	Static Tracking Error Value
NRC_SetTeachMaxStepSpeed/NRC_GetTeachMaxStepSpeed	Teach Max Single-step speed
NRC_ecatSetCommand/NRC_ecatGetCommand	Servo Command Word Read/write

Callback Functions

Function	Description
NRC_SetCompleteOneInstrCallBack	Set Instruction Completion Callback
NRC_SetJobFileCustomInstructionCB	Set Custom Instruction Callback
NRC_SetMsgHappenCallback	Set Message Callback
NRC_SetSocketCustomProtocalCB	Set TCP Protocol Callback
NRC_SetFaultResetCB	Set Fault Reset Button Callback
NRC_robotRunCycle_Callback	Set Communication Cycle Callback(1ms)

Detailed API Documentation

This Chapter Introduces System Startup, initialization, controller network configuration, reboot, and factory reset functions.

1.1SystemStartupandInitialization

Function Name	Function Description
NRC_StartController	System Startup Function.
NRC_GetControlInitComplete	Check If System Initialization Is Complete.
NRC_RestoreFactorySettings	Restore Factory Settings.
NRC_RebootController	Reboot Controller.
NRC_ModifyControllerIP	Modify Controller IP Address.
NRC_GetControlCycle	Get The Communication Cycle Between Controller And Servo.
NRC_ShieldedTeachingPendant	Disables Teach Pendant Connection Detection(mustbecalledbeforethesystemstartupfunction.).
NRC_GetRobotSum	Get Robot Count.
NRC_SetRobotMode	Set Robot To Multi-robot mode.
NRC_Delayms	System Delay For A Certain Time.
NRC_LogInfo	Print Log To The Nrc System.
NRC_GetNexMotionLibVersion	Get Ne X Motion Library Version Information.
NRC_GetSyncVersion	Get Sync Version Number.

1.2ServoEnableandStatusControl

Function Name	Function Description
NRC_PowerOn	Servo Power On(enable).
NRC_PowerOff	Servo Power Off(disable).
NRC_ServoEnable	Press The Deadman Switch To Enable The Servo.
NRC_ServoDisable	Release The Deadman Switch To Disable The Servo.
NRC_SetServoReadyStatus	Switch Servo Ready Status.
NRC_GetServoStatus	Get Servo Status.
NRC_GetPowerOffSaveSignal	Get Robot Power Status.
NRC_SetServoModerOfOperation	Set Servo Operation Mode.
NRC_Rbt_SetServoModerOfOperation	Set Servo Operation Mode(multi-robotversion).
NRC_GetServoMode	Gets Servo Operation Mode.
NRC_GetStatusWord	Read Servo Status Word.

1.3OperationModeandStatus

Function Name	Function Description
NRC_SetOperationMode	Set Operation Mode.
NRC_SetRunModeAutoManBegFlag	Set Auto Power-on when switching to run mode.
NRC_GetProgramRunStatus	Get Current Program Run Status.
NRC_GetRobotRunStatus	Get Current Robot Motion Status.
NRC_GetTeachBoxConnectStatus	Get Whether The Teach Pendant Is Connected.

Chapter2:RobotBasicParameterSettings

Overview

This Chapter Introduces Function Interfaces For Setting Robot Basic Parameters, including robot type configuration, servo mapping, Dh Parameters, joint/Cartesian Parameters, and other basic settings.

2.1RobotTypeandConfiguration

Function Name	Function Description
NRC_SetRobotTypeConfig	Set Robot Type.
NRC_Rbt_SetRobotTypeConfig	Set Robot Type(multi-robotversion).
NRC_GetRobotTypeConfig	Get Robot Type.
NRC_Rbt_GetRobotTypeConfig	Get Robot Type(multi-robotversion).
NRC_SetRobotDHConfig	Set Robot Dh Parameters.
NRC_GetRobotDHConfig	Get Robot Dh Parameters.
NRC_SetRobotJointConfig	Set Robot Joint Parameters.
NRC_SetRobotDecareConfig	Set Robot Cartesian Parameters.
NRC_GetRobotDecareConfig	Get Robot Cartesian Parameters.
NRC_CalcConfiguration	CalculatestheconfigurationofeachjointatacsPos,validonlyforR_GENERAL_6Srobottype,forotherrobottypesconfvalueis0.

2.2ServoMappingandConfiguration

Function Name	Function Description
NRC_SetServoMapRelation	Set Servo Mapping Relationship.
NRC_SetAllServoMapRelation	Set Servo Mapping Relationship(single robot only).
NRC_Rbt_SetAllServoMapRelation	Set Servo Mapping Relationship(multi-robotversion).
NRC_GetConnectServoTypeList	Get Connected Servo Type List.
NRC_GetSlaveNumByID	Get Slave Number List By Slave Vendor ID And Product Code.
NRC_ecatSetCommand	Set The Value Of A Servo Command Word.
NRC_ecatGetCommand	Read The Value Of A Servo Command Word.
NRC_GetPDOAddrMap	Get The P Do Mapping Address Of A Slave.

2.3RobotAxisCountandLimitations

Function Name	Function Description
NRC_GetRobotAxisSum	Get Robot Axis Count.
NRC_GetSyncAxisSum	Get External Axis Count.
NRC_SetRobotRangeLimit	Set Robot Range Limits.
NRC_GetRobotRangeLimit	Get Robot Range Limits.
NRC_SetOverTolerance	Set Robot Axis Over-tolerance.
NRC_Rbt_SetOverTolerance	Set Robot Axis Over-tolerance(multi-robotversion).
NRC_GetTolerance	Get Robot Axis Over-tolerance.
NRC_Rbt_GetTolerance	Get Robot Axis Over-tolerance(multi-robotversion).
NRC_ShieldFollowError	Disable Robot Axis Following Error.

Chapter3:ExternalAxisConfigurationandManagement

Overview

This Chapter Introduces Parameter Settings, calibration, and motion control for external axes(groundrails,positioners,etc.).

3.1ExternalAxisBasicSettings

Function Name	Function Description
NRC_SetSyncJointNum	Set Robot External Axis Count.
NRC_GetSyncGroupNum	Get Current External Axis Group Number.
NRC_SetSyncGroupNum	Set Robot External Axis Group Number.
NRC_SetSyncJointPara	Set Robot External Axis Parameters.
NRC_GetSyncJointPara	Get Robot External Axis Parameters.
NRC_Rbt_GetSyncJointType	Get Robot External Axis Group Type.
NRC_EncoderZeroOffsetvalueSync	Set External Axis Zero Offset.

3.2ExternalAxisMotionParameters

Function Name	Function Description
NRC_SetSyncJogJointSpeedConfig	Set Robot External Axis Jog Joint Speed.
NRC_GetSyncJogJointSpeedConfig	Get Robot External Axis Jog Joint Speed.
NRC_GetSyncRackConversionRatio	Get External Axis Rack Conversion Ratio.
NRC_SetSyncRackConversionRatio	Set External Axis Rack Conversion Ratio.
NRC_SetSyncCooperation	Set Whether External Axis Rack Is Cooperative.
NRC_GetSyncCooperation	Get Whether External Axis Rack Is Cooperative.
NRC_ResetSyncAxisMultipleTurns	Call This Interface To Reset The External Axis Current Position To Within-360°~360°.Thishasthesameeffectasthe"ResetExternalAxisMulti-turn"commandintheteachpendantinterface.Thisinterfacecanonlyresetasingleexternalaxis.

3.3ExternalAxisCalibration

Function Name	Function Description
NRC_SetSyncGroupCarbinarion	Calibrate External Axis Points(groupnumber,pointnumber).
NRC_GetSyncGroupCarbinarion	Query Whether A Group Of External Axes Is Calibrated.
NRC_CalSyncCalibrationResult	Calculate External Axis Calibration Result.
NRC_SetCurrentSyncPosToZeroPos	Set External Axis Current Position To Zero Point Or Clear Multi-turn value.

3.4ExternalAxisMotionControl

Function Name	Function Description
NRC_RobotMoveJointSync	Robot External Axis Point-to-point motion, robot external axis moves from current position to sync target position in point-to-point mode at vel speed.
NRC_RobotMoveLineSync	Robot External Axis Linear Motion, robot body moves from current position to target position in linear mode at vel speed, robot external axis moves from current position to sync target position in point-to-point mode at vel speed.
NRC_GetAxisVelSync	Get External Axis Motion Speed.
NRC_SingleSyncAxisMoveJConstVel_For_CustomInstructionCB	Callthisinterface;inrunmode, theexternalaxissyncAxiswillmoveataconstantvel.Ifmultiplecallsaremadesimultaneously, only the first call is effective.
NRC_StopSingleSyncAxisMoveJConstVel_For_CustomInstructionCB	Callthisinterfacetostoptheexternalaxisconstantvelocitymotion.Thisinterfacemustbecalledwhenexternalaxisconstantvelocitymotionisactive;otherwiseitreturns-1.
NRC_GetSingleSyncAxisMoveJConstVelMoving	Call This Interface To Get The Single External Axis Constant Velocity Motion Flag.

Chapter4:MotionControlandOperations

Overview

This Chapter Covers Robot Motion Control Interfaces, including operation mode settings, jog control, point-to-point motion, reset, speed control, etc.

4.1JogControl

Function Name	Function Description
NRC_JogMove	Start Jogging An Axis.
NRC_JogMoveStop	Stop Jogging A Joint.
NRC_JogMoveStopAll	Stop Jogging All Joints.
NRC_SetJogJointSpeedConfig	Jog Joint Speed Setting.
NRC_GetJogJointSpeedConfig	Get Jog Joint Speed.
NRC_SetJogRectangularSpeedConfig	Jog Cartesian Speed Setting.
NRC_GetJogRectangularSpeedConfig	Get Jog Cartesian Speed.
NRC_SetJogSensitivitySpeedConfig	Set Jog Sensitivity.
NRC_SetJogMoveCalculateNum	Set Jog Interpolation Point Count.

4.2MotionControl

Function Name	Function Description
NRC_RobotMoveJoint	Robot Point-to-point motion.
NRC_StartResetPoint	Robot Returns To There Set Point Position.
NRC_GetPlanningPosition	Get The First Point In The Planning Queue.
NRC_SetTargetPosition	Set Robot Target Position.
NRC_PV_SetTargetVelocity	Set Run Speed In Pv Mode.
NRC_PV_SetTargetAccAndDec	Set Run Acceleration And Deceleration In Pv Mode.
NRC_SetTargetVelocity	Set Target Velocity Value.
NRC_PosReachable	Check If The Robot Body Target And External Axis Sync Target Exceed Limits, result returned via result parameter, true means reachable, false means unreachable.

4.3SpeedControl

Function Name	Function Description
NRC_SetTeachRunSpeedPer	Set Teach Speed Percentage.
NRC_GetTeachRunSpeedPer	Get Teach Speed Percentage.
NRC_SetAutoRunSpeedPer	Set Auto Speed Percentage.
NRC_SetAutoRunSpeedPer_robot	Set Auto Speed Percentage(multi-robotversion).
NRC_GetAutoRunSpeedPer	Get Auto Speed Percentage.
NRC_GetAutoRunSpeedPer_robot	Get Auto Speed Percentage(multi-robotversion).
NRC_SetTeachMaxStepSpeed	Set Maximum Single-step speed in teach mode.
NRC_GetTeachMaxStepSpeed	Get Maximum Single-step speed in teach mode.
NRC_SetAbsolutePosResolution	Set Robot Absolute Position Resolution.
NRC_SetInterpolationMethod	Set Robot Interpolation Method.

Chapter5:TorqueandDynamicsControl

Overview

This Chapter Includes Torque Control, dynamics identification, collision detection, torque monitoring, and other functions.

5.1TorqueControl

Function Name	Function Description
NRC_SetTargetTorque	Set Robot Target Torque.
NRC_SetMaxTorque	Set Robot Axis Maximum Torque.
NRC_GetMaxTorque	Get Robot Axis Maximum Torque.
NRC_Rbt_SetMaxTorque	Get Robot Axis Maximum Torque(multi-robotversion).
NRC_GetActualTorque	Get Robot Axis Actual Torque.
NRC_GetActualCurrent	Get Actual Current.
NRC_GetMaxCurrent	Get Maximum Current.
NRC_GetRatedTorque	Get Rated Torque Of Each Joint.
NRC_Rbt_GetRatedTorque	Get Rated Torque Of Each Joint(multi-robotversion).
NRC_GetTorq	Get Torque Of Each Joint, unit is per mille.
NRC_Rbt_GetTorq	gets each joint torque in per mille units multi-robot version.
NRC_GetSyncTorq	Get Torque Of Each External Axis Joint, unit is per mille.
NRC_Rbt_GetSyncTorq	gets each external axis joint torque in per mille units multi-robot version.

5.2DynamicsIdentification

Function Name	Function Description
NRC_SetIdentityParam	Set The Two Parameters Required For Dynamics Identification And Return The Maximum And Minimum Values Of The Robot End-effect or on the z-axis within the current trajectory range.
NRC_RunSafeCheckProgram	Runrangesafetycheckprogram.Thisfunctionrunsthedynamicsidentificationtrajectoryoncetoconfirmthatthesurroundingenvironmentissafe, ensuring the robot will not hit people or objects during identification.
NRC_RunIdentifyProgram	Executedynamicsidentificationprogram.Thisfunctionperformsdynamicsidentificationbyrunningalongapredeterminedtrajectorytentimes.Aftereachrun, it calculates and returns the error between theoretical and actual torque values.
NRC_GetIdentifyError	Gettenidentificationtorqueerrorvalues.Thisfunctiongetstheerrorvaluesbetweentheoreticalandactualtorquefromtenidentificationcalculations.
NRC_StopIdentityProgram	Stop Dynamics Identification Program.

5.3CollisionDetection

Function Name	Function Description
NRC_SetCollisionParam	Settheabsolutevalueofthedifferencebetweentheoreticalandactualtorqueforeachjointwhenacollisionisdetermined.Thelargerthevalue, the lower the collision detection sensitivity.
NRC_SetCollisionSwitch	Enable Or Disable Collision Detection.
NRC_GetCollisionSwitch	Check If Collision Detection Is Enabled.
NRC_SetDynamicTrackingErrorMaxAllow	Set Maximum Allowed Dynamic Tracking Error.
NRC_SetStaticTrackingErrorMaxAllow	Set Maximum Allowed Static Tracking Error.

Chapter6:CoordinateSystemsandCalibration

Overview

This Chapter Introduces Coordinate System Management, tool/user coordinate system calibration, switching, and parameter setting functions.

6.1CoordinateSystemManagement

Function Name	Function Description
NRC_SetCurrentCoord	Switch Current Coordinate System.
NRC_GetCurrentCoord	Get Current Coordinate System.
NRC_PositionACStoMCS	Convert Robot Joint Coordinate Values To Cartesian Coordinate Values.
NRC_PositionMCStoACS	Convert Robot Cartesian Coordinate Values To Joint Coordinate Values.
NRC_TcpCalculate	Calculate The Position After A Fixed-distance offset in a specific coordinate system.

6.2ToolCoordinateSystem

Function Name	Function Description
NRC_SetToolCoordParm	Set Tool Parameters.
NRC_GetToolCoordParm	Get Tool Parameters.
NRC_CalibrationToolCoord_7Pos	Calibrate Tool--7-point calibration method, calibrates the tool, automatically calculates the offset value of the tool end position relative to the robot end position, there by determining the tool coordinate system.
NRC_CalibrationToolCoord_2Pos_SetPos	2-point calibration-set point data.
NRC_CalibrationToolCoord_2Pos_Cacl	2-point calibration-calculate calibration result.
NRC_CalibrationToolCoord_2Pos_Save	Writethe2-point calibration result to the specified tool.
NRC_SwitchToolCoord	Switch Current Tool.
NRC_GetCurrentToolCoord	Get Current Tool Number.

6.3UserCoordinateSystem

Function Name	Function Description
NRC_SetUserCoordParm	Set User Coordinate Parameters.
NRC_GetUserCoordParm	Get User Coordinate Parameters.
NRC_CalibrationUserCoord	Calibrate User Coordinate, calibrates the user coordinate system, automatically calculates the offset value of the user coordinate system origin relative to the robot cartesian coordinate system origin, there by determining the user coordinate system.
NRC_SwitchUserCoord	Switch Current User Coordinate.
NRC_GetCurrentUserCoord	Get Current User Coordinate Number.

6.4PositionandZeroPointSettings

Function Name	Function Description
NRC_SetCurrentPosToZeroPos	Set Current Position To Zero Point Or Clear Multi-turn value.
NRC_Rbt_SetCurrentPosToZeroPos	Set Current Position To Zero Point Or Clear Multi-turn value(multi-robotversion).
NRC_Rbt_SetSingleCircleValue	Set Zero Point Single-turn value(multi-robotversion).
NRC_Rbt_GetSingleCircleValue	Get Zero Point Single-turn value(multi-robotversion).
NRC_GetEncoderPosition	Get Encoder Position.

Chapter7:PositionandVariableManagement

Overview

This Chapter Includes Position Acquisition, position variable setting, variable management, and other functions.

7.1PositionAcquisitionandMonitoring

Function Name	Function Description
NRC_GetCurrentPos	Get Current Position.
NRC_Rbt_GetCurrentPos	Get Current Position(multi-robotversion).
NRC_GetOtherToolPos	Get Position Represented In Other Tool Coordinate Systems At Current Position.
NRC_GetAngularVel	Get Joint Angular Velocity, unit rad/s.
NRC_GetLinerVel	Get Joint Linear Velocity, unit mm/s.
NRC_GetCurrentMotorVel	Get Motor Speed.
NRC_Rbt_GetCurrentMotorVel	Get Motor Speed(multi-robotversion).
NRC_GetCurrentSyncPos	Getexternalaxiscurrentposition.Thisfunctioncangettheexternalaxisposition;positiondataisreturnedviaparameterreference.
NRC_Rbt_GetCurrentSyncPos	Get External Axis Current Position(multi-robotversion).ThisfunctioncangettheexternalaxispositioninthecoordCoordinatesystem;positiondataisreturnedviaparameterreference.
NRC_GetCurrentTrackingError	Get Current Tracking Error.
NRC_GetMaxTrackingError	Get Maximum Tracking Error.

7.2VariableManagement

Function Name	Function Description
NRC_ReadBoolVar	Read Boo L Variable Value.
NRC_ReadIntVar	Read In T Variable Value.
NRC_ReadDoubleVar	Read Double Variable Value.
NRC_SetBoolVar	Set Boo L Variable Value.
NRC_SetIntVar	Set In T Variable Value.
NRC_SetDoubleVar	Set Double Variable Value.
NRC_SetGlobalPositionVariable	Set Global Position Variable Coordinate Values.
NRC_SetGlobalPositionVariableNote	Set Global Position Variable Comment.
NRC_GetGlobalPositionVariable	Get Global Position Variable Coordinate Values.
NRC_GetGlobalPositionVariableNote	Get Global Position Variable Comment.
NRC_GetCurrentTime	Get Current Time.

Chapter8:IOandCommunicationControl

Overview

This Chapter Introduces Digital/analog IO control, CAN Bus Communication, Ether Cat Configuration, external communication, and other interfaces.

8.1IOConfigurationandOperation

Function Name	Function Description
NRC_GetIOBoardSum	Return IO Board Count.
NRC_GetIOConfig	Return The Number Of IO Ports For A Specific IO Board.
NRC_DigOut	Open Or Close The Digital Output Status Of The Specified IO.
NRC_DigOutByBoard	Based On IO Board Number, Open Or Close The Digital Output Status Of The Specified IO.
NRC_ReadDigOut	Read The Status Of A Digital IO Output Port.
NRC_ReadDigOutByBoard	Based On IO Board Number, Read The Status Of A Digital IO Output Port.
NRC_ReadDigIn	Read The Status Of A Digital IO Input Port.
NRC_ReadDigInByBoard	Based On IO Board Number, Read The Status Of A Digital IO Input Port.
NRC_AnaOut	Set The Output Value Of An Analog IO Port.
NRC_ReadAnaOut	Read The Status Of An Analog IO Output Port.
NRC_ReadAnaIn	Read The Status Of An Analog IO Input Port.
NRC_EnableCustomIOFunction	Enable Custom IO Function.
NRC_SetCustomIODoutConfig	Set Custom IO D Out Configuration.
NRC_SetCustomIODinConfig	Set Custom I Odin Configuration.
NRC_SetCheckExioEnable	Set Built-in tcp interface extended IO detection enable flag.
NRC_GetEthercatIOConfig	Get Ether Cat IO Configuration.

8.2CommunicationInterface

Function Name	Function Description
NRC_SetCANBaudRate	Set CAN Communication Baud Rate.
NRC_SendCANData	Send A Frame Of Data Via CAN Communication.
NRC_SetCommunicationParam	Call This Interface To Set External TCP Communication Parameters.
NRC_SetCommunicationStatus	Set TCP Communication On/off.
NRC_SetTcpMessageCallback	Set Callback Function For Receiving Messages Via External TCP Communication.
NRC_CommSendMessage	Call This Interface To Send A Message To The Controller.
NRC_GetModbusSlaveConnectStatus	Get Mod Bus Slave Connection Status.
NRC_GetModbusMasterConnectStatus	Get Mod Bus Master Connection Status.
NRC_SetSocketCustomProtocalCB	This Function Customizes The Socket Communication Protocol.
NRC_SendSocketCustomProtocal	Send Socket Communication.

Chapter9:ErrorHandlingandMessageManagement

Overview

This Chapter Includes Error Handling, message management, callback function settings, and other functions.

9.1MessageManagement

Function Name	Function Description
NRC_SetMsgHappenCallback	Set Callback Function For Message Occurrence.
NRC_FirstMessagePop	Pop The Earliest Message From The Queue.
NRC_LastMessagePop	Pop The Latest Message From The Queue.
NRC_GetMessage	Get The Num-th message in the queue.
NRC_GetMessageSize	Get Total Message Count In The Queue.
NRC_ClearMessage	Get Current User Coordinate Number.
NRC_TriggerErrorReport	User Actively Triggers An Error Report.

9.2ErrorHandling

Function Name	Function Description
NRC_ClearServoError	Clear Servo Errors.
NRC_ClearAllError	Clear All Errors, clear the message queue, and clear servo errors.
NRC_SetFaultResetCB	Seterrorclearbuttoncallbackfunction;doesnotaffectthecontroller'sownerrorclearingfunction.

Chapter10:TeachPendantandJobFileControl

Overview

This Chapter Includes Teach Pendant Interaction, job file operations, custom instructions, andotherfunctions.Forotherinstructiondocumentation, please refer to the job file documentation.

10.1TeachPendantControl

Function Name	Function Description
NRC_GetTeachBoxConnectStatus	Get Whether The Teach Pendant Is Connected.
NRC_SendCursorJumpCmdToTeachbox	Sendsacursorjumpcommandtotheteachpendant.Aftertheteachpendantresponds, the cursor jumps to the specified line of the specified job file.
NRC_GetOpenJobFileName	Get The Name Of The Currently Open Job File.

10.2JobFileandCustomInstructions

Function Name	Function Description
NRC_SetJobFileCustomInstructionCB	Binda Function To A Custom Instruction.
NRC_SetJobFileCustomInstructionPreTreatmentCB	Binda Function To The Pre-processing function of a custom instruction.
NRC_SetJobFileCustomInstructionPostTreatmentCB	Binda Function To The Post-processing function of a custom instruction.
NRC_ParseJobfileToAppendRunInstruction	Parse All Instructions In A Job File Into A Queue That CAN Be Used As Append Mode Instructions.
NRC_SetCustomFileTransfer	Set Custom Configuration Files That CAN Be Imported/exported.

Chapter11:CallbackFunctionsandCycleControl

Overview

This Chapter Introduces Various Callback Function Settings, cycle control, real-time monitoring, and other functions.

11.1CallbackFunctionSettings

Function Name	Function Description
NRC_SetMsgHappenCallback	Set Callback Function For Message Occurrence.
NRC_SetSocketCustomProtocalCB	This Function Customizes The Socket Communication Protocol.
NRC_SetJobFileCustomInstructionCB	Binda Function To A Custom Instruction.
NRC_SetJobFileCustomInstructionPreTreatmentCB	Binda Function To The Pre-processing function of a custom instruction.
NRC_SetJobFileCustomInstructionPostTreatmentCB	Binda Function To The Post-processing function of a custom instruction.
NRC_SetTcpMessageCallback	Set Callback Function For Receiving Messages Via External TCP Communication.
NRC_SetFaultResetCB	Seterrorclearbuttoncallbackfunction;doesnotaffectthecontroller'sownerrorclearingfunction.
NRC_robotRunCycle_Callback	Set A Custom Parameter Less Function That Will Be Called Once Every Ether Cat Communication Cycle(default1ms).

The Following Are Detailed Descriptions Of Each Interface

NRC_Delayms

Function Prototype	intNRC_Delayms(intms);
Description	System Delay For A Certain Time.
Parameters	InputParameters: msisthedelaytimeinmilliseconds
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_LogInfo

Function Prototype	voidNRC_LogInfo(constchar*format,...);
Description	Print Log To The Nrc System.
Parameters	InputParameters: formatisthecontenttoprint
Return Value	None
---	---
Remarks	Usage Is Identical To Print F().

NRC_GetNexMotionLibVersion

Function Prototype	std::stringNRC_GetNexMotionLibVersion();
Description	Get Ne X Motion Library Version Information.
Parameters	None
Return Value	Returns Ne X Motion Library Version Information.
Remarks	None

NRC_GetSyncVersion

Function Prototype	std::stringNRC_GetSyncVersion();
Description	Get Sync Version Number.
Parameters	None
Return Value	Returns Sync Version Number.
Remarks	None

NRC_StartController

Function Prototype	intNRC_StartController(intnetPort=4);
Description	System Startup Function.
Parameters	InputParameters: Portnumberofthenetworkportconnectingtotheservo, defaultis4;setbasedonthespecificIPCmodel.
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Systemstartuptakestime,pleaseuseNRC_GetControlInitComplete()tocheckifsysteminitializationiscomplete.Donotcallotherfunctionsbeforeinitializationiscomplete.

NRC_GetControlInitComplete

Function Prototype	intNRC_GetControlInitComplete();
Description	Check If System Initialization Is Complete.
Parameters	None
Return Value	Returnswhethersysteminitializationiscomplete 0:Notcomplete 1:Complete
Remarks	None

NRC_SetServoReadyStatus

Function Prototype	intNRC_SetServoReadyStatus(intstatus);
Description	Switch Servo Ready Status.
Parameters	InputParameters: InputParameters:status0-Servodisabled1-Servo Enabled
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Before Switching Servo Status, pleasecheckiftheservohasanyerrors.Ifthereareerrors, the servo status cannot be switched normally.

NRC_GetServoStatus

Function Prototype	intNRC_GetServoStatus();
Description	Get Servo Status.
Parameters	None
Return Value	Returnsservostatus 0-Servodisabled 1-Servo Enabled(ready) 2-Servoalarm 3-Servo Enabled
Remarks	None

NRC_SetOperationMode

Function Prototype	intNRC_SetOperationMode(NRC_OperationModemode);
Description	Set Operation Mode.
Parameters	InputParameters: mode0-Teachmode1-Remotemode2-Auto Mode
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetTeachRunSpeedPer

Function Prototype	intNRC_SetTeachRunSpeedPer(intspeedPer);
Description	Set Teach Speed Percentage.
Parameters	InputParameters: speedPer: parameterrange:0<speedPer<=100 Jogparameters:-1, -2, -3(InjointCoordinatesystem:-1means0.1degree,-2means0.01degree,-3means0.001degree;inothermodes:-1means1mm/s,-2means0.1mm/s,-3means0.01mm/s)
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetTeachRunSpeedPer

Function Prototype	intNRC_GetTeachRunSpeedPer();
Description	Get Teach Speed Percentage.
Parameters	None
Return Value	Returnsteachspeedpercentage Returnvaluerange:-2<NRC_GetTeachRunSpeedPer()<=100
Remarks	NRC_GetTeachRunSpeedPer()!=0

NRC_SetAutoRunSpeedPer

Function Prototype	intNRC_SetAutoRunSpeedPer(intspeedPer);
Description	Set Auto Speed Percentage.
Parameters	InputParameters: speedPer: parameterrange:0<speedPer<=100
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetAutoRunSpeedPer_robot

Function Prototype	intNRC_SetAutoRunSpeedPer_robot(introbotNum,intspeedPer);
Description	Set Auto Speed Percentage(multi-robotversion).
Parameters	InputParameters: speedPerparameterrange:0<speedPer<=100 robotNumRobotnumberselection[1, 4]
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetAutoRunSpeedPer

Function Prototype	intNRC_GetAutoRunSpeedPer();
Description	Get Auto Speed Percentage.
Parameters	None
Return Value	Returnsautospeedpercentage Returnvaluerange:0<NRC_GetAutoRunSpeedPer()<=100
Remarks	None

NRC_GetAutoRunSpeedPer_robot

Function Prototype	intNRC_GetAutoRunSpeedPer_robot(introbotNum);
Description	Get Auto Speed Percentage(multi-robotversion).
Parameters	InputParameters: robotNumRobotnumberselection[1, 4]
Return Value	Returnsautospeedpercentage Returnvaluerange:0<NRC_GetAutoRunSpeedPer()<=100
Remarks	None

NRC_SetCurrentCoord

Function Prototype	intNRC_SetCurrentCoord(NRC_COORDcoord);
Description	Switch Current Coordinate System.
Parameters	InputParameters: coord0-Jointcoordinate1-Cartesiancoordinate2-Toolcoordinate3-User Coordinate
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetCurrentCoord

Function Prototype	NRC_COORDNRC_GetCurrentCoord();
Description	Get Current Coordinate System.
Parameters	None
Return Value	ReturnscurrentCoordinatesystem:0-Joint1-Cartesian2-Tool3-User
Remarks	None

NRC_ServoEnable

Function Prototype	intNRC_ServoEnable();
Description	Press The Deadman Switch To Enable The Servo.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Pressthedeadmanswitchtopowerontherobot. Afterpoweringonusingthisinterface,callingNRC_ServoEnable()topoweroffwillautomaticallystoptherunningrobotfirst,thenpoweroff. Onlyavailableinteachmode,andrecommendedforuseinteachmode. Beforecallingthisfunction,pleaseswitchservoreadystatustoservoready,youcancallNRC_SetServoReadyStatus(intstatus)toswitchservostatus Aftersuccessfullycallingthisfunction,theservowillbepoweredonandenabled,pleaseensuresafety

NRC_ServoDisable

Function Prototype	intNRC_ServoDisable();
Description	Release The Deadman Switch To Disable The Servo.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	CanpowerofftherobotthatwaspoweredonviaNRC_ServoEnable()interface Aftersuccessfullycallingthisfunction,theservowillbepoweredoffandindisabledstate Onlyavailableinteachmode,andrecommendedtousethisinterfaceinteachmode

NRC_GetPowerOffSaveSignal

Function Prototype	boolNRC_GetPowerOffSaveSignal();
Description	Get Robot Power Status.
Parameters	None
Return Value	Returnsrobotpowerstatus:0-Notpowered1-Powered
Remarks	None

NRC_JogMove

Function Prototype	intNRC_JogMove(intaxis,doublevel);
Description	Start Jogging An Axis.
Parameters	InputParameters: axisAxistojog,valuerange1-6 InputParameters: velAxismotiondirectionandspeed,valuerange[-1,-0.01)U(0.01,1] Positive/negativesignindicatesdirection Coefficientisspeedratio,actualspeed=teachspeedvelmotorspeed
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	AftercallingNRC_JogMoveforjogging,youmustcallNRC_JogMoveStoptostopthejoggingaxis,otherwisewhenjoggingotheraxes,thepreviouslyjoggedaxiswillalsomove

NRC_JogMoveStop

Function Prototype	intNRC_JogMoveStop(intaxis);
Description	Stop Jogging A Joint.
Parameters	InputParameters: axisAxistostopjogging, valuerange1-6
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	AftercallingNRC_JogMoveforjogging,youmustcallNRC_JogMoveStoptostopthejoggingaxis,otherwisewhenjoggingotheraxes,thepreviouslyjoggedaxiswillalsomove

NRC_JogMoveStopAll

Function Prototype	intNRC_JogMoveStopAll();
Description	Stop Jogging All Joints.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	After Calling This Function, robot jogging will stop and the robot will deceleration

NRC_GetOtherToolPos

Function Prototype	intNRC_GetOtherToolPos(intToolNum,NRC_Position&position);
Description	Get Position Represented In Other Tool Coordinate Systems At Current Position.
Parameters	InputParameters: ToolNumToolnumber OutputParameters: positionReturnscoordinatesundertheselectedtool
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetCurrentPos

Function Prototype	intNRC_GetCurrentPos(NRC_COORDcoord,NRC_Position&position);
Description	Get Current Position.
Parameters	InputParameters: coord0-jointcoordinate1-Cartesiancoordinate2-toolcoordinate3-usercoordinate OutputParameters: positionReturnscoordinatepositionundertheselectedCoordinatesystem
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_Rbt_GetCurrentPos

Function Prototype	intNRC_Rbt_GetCurrentPos(introbotNum,NRC_COORDcoord,NRC_Position&position);
Description	Get Current Position(multi-robotversion).
Parameters	InputParameters: robotNumPass robot number(1-4) coord0-jointcoordinate1-Cartesiancoordinate2-toolcoordinate3-usercoordinate OutputParameters: positionReturnscoordinatepositionundertheselectedCoordinatesystem
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_PositionACStoMCS

Function Prototype	intNRC_PositionACStoMCS(NRC_Position&posACS,NRC_Position&posMCS);
Description	Convert Robot Joint Coordinate Values To Cartesian Coordinate Values.
Parameters	InputParameters: posACSJointcoordinatevaluestoconvert OutputParameters: posMCSConversionresultreturnedviathisparameter
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_PositionMCStoACS

Function Prototype	intNRC_PositionMCStoACS(NRC_Position&posMCS,NRC_Position&posACS);
Description	Convert Robot Cartesian Coordinate Values To Joint Coordinate Values.
Parameters	InputParameters: posMCSCartesiancoordinatevaluestoconvert OutputParameters: posACSConversionresultreturnedviathisparameter
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetProgramRunStatus

Function Prototype	intNRC_GetProgramRunStatus();
Description	Get Current Program Run Status.
Parameters	None
Return Value	Returnscurrentprogramrunstatus 0Programstopped 1Programpaused 2Programrunning
Remarks	None

NRC_GetRobotRunStatus

Function Prototype	intNRC_GetRobotRunStatus();
Description	Get Current Robot Motion Status.
Parameters	None
Return Value	Returnscurrentrobotmotionstatus 0Robotstopped 1Robotmoving
Remarks	None

NRC_PowerOn

Function Prototype	intNRC_PowerOn();
Description	Servo Power On(enable).
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Beforecallingthisfunction,pleaseswitchservoreadystatustoservoready,youcancallNRC_SetServoReadyStatus(intstatus)toswitchservostatus Aftersuccessfullycallingthisfunction,theservowillbepoweredonandenabled,pleaseensuresafety

NRC_PowerOff

Function Prototype	intNRC_PowerOff();
Description	Servo Power Off(disable).
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	After Successfully Calling This Function, theservowillbepoweredoffandindisabledstate Donotcallthisinterfacewhiletherobotismoving, as it may cause the robot to stop suddenly and cause severe shaking

NRC_RobotMoveJoint

Function Prototype	intNRC_RobotMoveJoint(intvel,constNRC_Position&target,intacc,intdec);
Description	Robot Point-to-point motion.
Parameters	InputParameters: vel:Robotrunningspeedasapercentageofmaximumspeed.Valuerange:0<vel<=100 target:Robotmotiontargetposition.SeeNRC_Positionfordetails. acc:Robotrunningaccelerationasapercentageofeachjoint'smaximumacceleration.Valuerange:0<acc<=100 dec:Robotrunningdecelerationasapercentageofeachjoint'smaximumdeceleration.Valuerange:0<dec<=100
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Beforecallingthisfunction,pleaseenabletheservo,youcancallNRC_ServoEnable()topowerontheservo Aftersuccessfullycallingthisfunction,therobotwillstartmoving.Pleaseensuresafety.

NRC_StartResetPoint

Function Prototype	intNRC_StartResetPoint();
Description	Robot Returns To There Set Point Position.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Ifcallingthisfunctioninteachmode,pleaseenabletheservofirst,youcancallNRC_ServoEnable()topowerontheservo Aftersuccessfullycallingthisfunction,therobotwillstartmoving.Pleaseensuresafety.

NRC_DigOut

Function Prototype	voidNRC_DigOut(intport,intvalue);
Description	Open Or Close The Digital Output Status Of The Specified IO.
Parameters	InputParameters: portDigitalIOporttooutput, maximumrange1<=port<=16, actualrangedependsonthenumberofIOportsontheconnectedIOmodule valueOutputstatus0-Lowlevel1-High Level
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_DigOutByBoard

Function Prototype	voidNRC_DigOutByBoard(intboard_id,intport_id,intvalue);
Description	Based On IO Board Number, Open Or Close The Digital Output Status Of The Specified IO.
Parameters	InputParameters: port_id:digitalIOporttooutput,maximumrange:1<=port<=16,actualrangedependsonthenumberofIOportsontheconnectedIOmodule valuestatustooutput:0-outputlowlevel,1-outputhighlevel board_idIOboardnumbertooutput,maximumrange:1<=board_id<=4,actualrangedependsonthenumberofconnectedIOboards
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_ReadDigOut

Function Prototype	intNRC_ReadDigOut(intport);
Description	Read The Status Of A Digital IO Output Port.
Parameters	InputParameters: portDigitalIOporttoread, maximumrange1<=port<=16, actual range depends on the number of IO ports on the connected IO module
Return Value	Returnscurrentportstatus 0Currentlylowlevel 1Currentlyhighlevel -1Portdoesnotexist
Remarks	None

NRC_ReadDigOutByBoard

Function Prototype	intNRC_ReadDigOutByBoard(intboard_id,intport_id);
Description	Based On IO Board Number, Read The Status Of A Digital IO Output Port.
Parameters	InputParameters: board_idIOboardnumbertoread,maximumrange:1<=board_id<=4,actualrangedependsonthenumberofconnectedIOboards port_idIOboardnumbertoreadcorrespondingdigitalIOport,maximumrange:1<=port<=16,actualrangedependsonthenumberofIOportsonthecorrespondingIOboard
Return Value	Returnscurrentportstatus 0Currentlylowlevel 1Currentlyhighlevel -1Portdoesnotexist
Remarks	None

NRC_ReadDigIn

Function Prototype	intNRC_ReadDigIn(intport);
Description	Read The Status Of A Digital IO Input Port.
Parameters	InputParameters: portDigitalIOporttoread, maximumrange1<=port<=16, actual range depends on the number of IO ports on the connected IO module
Return Value	Returnscurrentportstatus 0Currentlylowlevel 1Currentlyhighlevel -1Portdoesnotexist
Remarks	None

NRC_ReadDigInByBoard

Function Prototype	intNRC_ReadDigInByBoard(intboard_id,intport_id);
Description	Based On IO Board Number, Read The Status Of A Digital IO Input Port.
Parameters	InputParameters: board_idIOboardnumbertoread,maximumrange:1<=board_id<=4,actualrangedependsonthenumberofconnectedIOboards port_idIOboardnumbertoreadcorrespondingdigitalIOport,maximumrange:1<=port<=16,actualrangedependsonthenumberofIOportsonthecorrespondingIOboard
Return Value	Returnscurrentportstatus 0Currentlylowlevel 1Currentlyhighlevel -1Portdoesnotexist
Remarks	None

NRC_AnaOut

Function Prototype	voidNRC_AnaOut(intport,doublevalue);
Description	Set The Output Value Of An Analog IO Port.
Parameters	InputParameters: portanalogIOporttooutput, maximumrange:1<=port<=16, actualrangedependsonthenumberofIOportsontheconnectedIOmodule valueThevaluetooutputontheselectedanalogIOport
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_ReadAnaOut

Function Prototype	intNRC_ReadAnaOut(intport,double&value);
Description	Read The Status Of An Analog IO Output Port.
Parameters	InputParameters: portanalogIOporttoread, maximumrange:1<=port<=16, actualrangedependsonthenumberofIOportsontheconnectedIOmodule valuereturnsthecurrentvalueofthisport
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_ReadAnaIn

Function Prototype	intNRC_ReadAnaIn(intport,double&value);
Description	Read The Status Of An Analog IO Input Port.
Parameters	InputParameters: portanalogIOporttoread, maximumrange:1<=port<=16, actualrangedependsonthenumberofIOportsontheconnectedIOmodule valuereturnsthecurrentvalueofthisport
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetCANBaudRate

Function Prototype	voidNRC_SetCANBaudRate(unsignedintport,unsignedintbaud);
Description	Set CAN Communication Baud Rate.
Parameters	InputParameters: portsetCANPortnumbertouse baudsetbaudrate
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SendCANData

Function Prototype	voidNRC_SendCANData(unsignedintport,unsignedintsendCanID,constunsignedcharbuff[8],unsignedintsendLen=8);
Description	Send A Frame Of Data Via CAN Communication.
Parameters	InputParameters: portsetCANPortnumbertouse sendIDsetframeIDreturnedviathisvariable sendlensetsendingdatalength buffThedatatosend
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_ReadBoolVar

Function Prototype	boolNRC_ReadBoolVar(intnum);
Description	Read Boo L Variable Value.
Parameters	InputParameters: numBOOLvariablenumber, valuerange:0<num<=999
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_ReadIntVar

Function Prototype	intNRC_ReadIntVar(intnum);
Description	Read In T Variable Value.
Parameters	InputParameters: numINTvariablenumber, valuerange:0<num<=999
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_ReadDoubleVar

Function Prototype	doubleNRC_ReadDoubleVar(intnum);
Description	Read Double Variable Value.
Parameters	InputParameters: numDOUBLEvariablenumber, valuerange:0<num<=999
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetBoolVar

Function Prototype	intNRC_SetBoolVar(intnum,boolvalue);
Description	Set Boo L Variable Value.
Parameters	InputParameters: numBOOLvariablenumber, valuerange:0<num<=999 valuetargetvaluetoset
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetIntVar

Function Prototype	intNRC_SetIntVar(intnum,intvalue);
Description	Set In T Variable Value.
Parameters	InputParameters: numINTvariablenumber, valuerange:0<num<=999 valuetargetvaluetoset
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetDoubleVar

Function Prototype	intNRC_SetIntVar(intnum,doublevalue);
Description	Set Double Variable Value.
Parameters	InputParameters: numDOUBLEvariablenumber, valuerange:0<num<=999 valuetargetvaluetoset
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetGlobalPositionVariable

Function Prototype	intNRC_SetGlobalPositionVariable(intnum,constNRC_Position&pos_set);
Description	Set Global Position Variable Coordinate Values.
Parameters	InputParameters: numTheglobalpositionvariablenumbertoset,0<num<=999 pos_setThecoordinatevaluesoftheglobalpositionvariabletoset
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetGlobalPositionVariableNote

Function Prototype	intNRC_SetGlobalPositionVariableNote(intnum,std::stringnote);
Description	Set Global Position Variable Comment.
Parameters	InputParameters: numTheglobalpositionvariablenumbertoset, 0<num<=999 noteThecommenttosetfortheglobalvariable
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetGlobalPositionVariable

Function Prototype	intNRC_GetGlobalPositionVariable(intnum,NRC_Position&pos_get);
Description	Get Global Position Variable Coordinate Values.
Parameters	InputParameters: numTheglobalpositionvariablenumbertoget,0<num<=999 pos_getThecoordinatevaluesoftheglobalpositionvariabletoget
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetGlobalPositionVariableNote

Function Prototype	intNRC_GetGlobalPositionVariableNote(intnum,std::string&note);
Description	Get Global Position Variable Comment.
Parameters	InputParameters: numTheglobalpositionvariablenumbertoget, 0<num<=999 noteGetthecommentoftheglobalvariable
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetRobotTypeConfig

Function Prototype	intNRC_SetRobotTypeConfig(conststd::string&type);
Description	Set Robot Type.
Parameters	OutputParameters: type: -"R_GENERAL_6S"6-axis -"R_SCARA"4-axisSCARA -"R_FOURAXIS_PALLET"4-axispalletizing -"R_FOURAXIS"4-axis -"R_GENERAL_1S"1-axis -"R_GENERAL_5S"5-axis -"R_GENERAL_6S_1"6-axisvariant1 -"R_SCARA_TWOAXIS"2-axisSCARA -"R_SCARA_THREEAXIS"3-axisSCARA -"R_THREE_CARTESIAN_COORDINATE"3-axisCartesian -"R_THREE_CARTESIAN_COORDINATE_1"3-axisspecialtype1 -"R_GENERAL_7S_RBT"7-axis -"R_SCARA_1"4-axisSCARAvariant1
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_Rbt_SetRobotTypeConfig

Function Prototype	intNRC_Rbt_SetRobotTypeConfig(introbotNum,conststd::string&type);
Description	Set Robot Type(multi-robotversion).
Parameters	OutputParameters: indexTotalnumberoftimesthecurrentjobfileshouldrun, setto0forlooprunning, parameterrange:index>=0
Return Value	OutputParameters: robotNumrobotnumber(1-4) OutputParameters: type: -"R_GENERAL_6S"6-axis -"R_SCARA"4-axisSCARA -"R_FOURAXIS_PALLET"4-axispalletizing -"R_FOURAXIS"4-axis -"R_GENERAL_1S"1-axis -"R_GENERAL_5S"5-axis -"R_GENERAL_6S_1"6-axisvariant1 -"R_SCARA_TWOAXIS"2-axisSCARA -"R_SCARA_THREEAXIS"3-axisSCARA -"R_THREE_CARTESIAN_COORDINATE"3-axisCartesian -"R_THREE_CARTESIAN_COORDINATE_1"3-axisspecialtype1 -"R_GENERAL_7S_RBT"7-axis -"R_SCARA_1"4-axisSCARAvariant1
Remarks	None

NRC_GetRobotTypeConfig

Function Prototype	intNRC_GetRobotTypeConfig(std::string&type);
Description	Get Robot Type.
Parameters	OutputParameters: type: -"R_GENERAL_6S"6-axis -"R_SCARA"4-axisSCARA -"R_FOURAXIS_PALLET"4-axispalletizing -"R_FOURAXIS"4-axis -"R_GENERAL_1S"1-axis -"R_GENERAL_5S"5-axis -"R_GENERAL_6S_1"6-axisvariant1 -"R_SCARA_TWOAXIS"2-axisSCARA -"R_SCARA_THREEAXIS"3-axisSCARA -"R_THREE_CARTESIAN_COORDINATE"3-axisCartesian -"R_THREE_CARTESIAN_COORDINATE_1"3-axisspecialtype1 -"R_GENERAL_7S_RBT"7-axis -"R_SCARA_1"4-axisSCARAvariant1
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_Rbt_GetRobotTypeConfig

Function Prototype	intNRC_GetRobotTypeConfig(std::string&type);
Description	Get Robot Type(multi-robotversion).
Parameters	OutputParameters: robotNumrobotnumber(1-4) type: -"R_GENERAL_6S"6-axis -"R_SCARA"4-axisSCARA -"R_FOURAXIS_PALLET"4-axispalletizing -"R_FOURAXIS"4-axis -"R_GENERAL_1S"1-axis -"R_GENERAL_5S"5-axis -"R_GENERAL_6S_1"6-axisvariant1 -"R_SCARA_TWOAXIS"2-axisSCARA -"R_SCARA_THREEAXIS"3-axisSCARA -"R_THREE_CARTESIAN_COORDINATE"3-axisCartesian -"R_THREE_CARTESIAN_COORDINATE_1"3-axisspecialtype1 -"R_GENERAL_7S_RBT"7-axis -"R_SCARA_1"4-axisSCARAvariant1
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetServoMapRelation

Function Prototype	intNRC_SetServoMapRelation(std::vector<int>servoMap,std::vector<int>syncServoMap);
Description	Set Servo Mapping Relationship.
Parameters	InputParameters: servoMapservomappingrelationship,Thecountistheconfiguredtotalnumberofrobotaxes,Eachvalueistheservonumberconnectedtoeachaxis syncServoMapexternalaxisservomappingrelationship,Thecountis3,Eachvalueistheservonumberconnectedtoeachaxis,ifexternalaxisislessthan3,the corresponding position each value is 0
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Themappingbetweenrobotaxesandservosis:: -Axis 1 connected to the 2nd servo -Axis 2 connected to the 3rd servo -Axis 3 connected to the 1st servo -Axis 4 connected to the 4th servo -Axis 5 connected to the 6th servo -Axis 6 connected to the 5th servo -TheservoMapvalueis{2,3,1,4,6,5} Number of external axes and servo mapping relationship: - No external axis, then syncServoMap each value is{0,0,0} - One external axis, then syncServoMap each value is{7,0,0} - Two external axes, then syncServoMap each value is{7,8,0} Use this instead ofNRC_SetAllServoMapRelation!

NRC_SetAllServoMapRelation

Function Prototype	intNRC_SetAllServoMapRelation(std::vector<int>servoMap,intsyncGroupSum,intsyncType[],std::vector<std::vector<int>>syncServoMap);
Description	Set Servo Mapping Relationship(single robot only).
Parameters	InputParameters: servoMapservomappingrelationship,Thecountistheconfiguredtotalnumberofrobotaxes,Eachvalueistheservonumberconnectedtoeachaxis syncGroupSummaximumnumberofexternalaxisgroups,maximumto3,supports up to two dual-axis positioners plus one ground rail syncTypeexternalaxisgrouptype,0:None,1:Single-axispositioner,2:Dual-axispositioner,3:Groundrail syncServoMapexternalaxisservomappingrelationship
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Themappingbetweenrobotaxesandservosis:: -Axis 1 connected to the 2nd servo -Axis 2 connected to the 3rd servo -Axis 3 connected to the 1st servo -Axis 4 connected to the 4th servo -Axis 5 connected to the 6th servo -Axis 6 connected to the 5th servo -TheservoMapvalueis{2,3,1,4,6,5} Number of external axes and servo mapping relationship - No external axis: syncGroupSum each value is 0, - One single-axis positioner: syncGroupSum is 1, syncType is{1,0,0},syncServoMapto{{7}} - Two dual-axis positioners and one ground rail: syncGroupSum is 3, syncType is{2,2,3},syncServoMapto{{7,8},{9,10},{11}}

NRC_Rbt_SetAllServoMapRelation

Function Prototype	intNRC_Rbt_SetAllServoMapRelation(unsignedintrobotSum,std::vector<std::string>robotType,std::vector<std::vector<int>>servoMap,std::vector<NRC_SyncParam>syncMap);
Description	Set Servo Mapping Relationship(multi-robotversion).
Parameters	InputParameters: robotSumrobottotal,maximumto4 servoMapservomappingrelationship,Thecountistheconfiguredtotalnumberofrobotaxes,Eachvalueistheservonumberconnectedtoeachaxis syncGroupSummaximumnumberofexternalaxisgroups,maximumto3,supports up to two dual-axis positioners plus one ground rail syncTypeexternalaxisgrouptype,0:None,1:Single-axispositioner,2:Dual-axispositioner,3:Groundrail syncServoMapexternalaxisservomappingrelationship
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Themappingbetweenrobotaxesandservosis:(taking two 4-axis robots as an example): -Robot 1 Axis 1 connected to the 2nd servo -Robot 1 Axis 2 connected to the 3rd servo -Robot 1 Axis 3 connected to the 1st servo -Robot 1 Axis 4 connected to the 4th servo -Robot 2 Axis 1 connected to the 1st servo -Robot 2 Axis 2 connected to the 2nd servo -Robot 2 Axis 3 connected to the 3rd servo -Robot 2 Axis 4 connected to the 4th servo TheservoMapvalueis{{2,3,1,4},{1,2,3,4}} Number of external axes and servo mapping relationship(taking two 4-axis robots as an example): No external axis: syncGroupSum each value is 0, One single-axis positioner: syncMap each value is{NRC_SyncMapone,NRC_SyncMaptwo}, NRC_SyncMapone { syncGroupSum=1; std::vector<std::vector<int>>syncServoMap={{5}}; std::vector<std::vector<int>>syncType={1,0,0}; } NRC_SyncMaptwoisthesameasNRC_SyncMapone; Two dual-axis positioners and one ground rail: syncMap each value is{NRC_SyncMapone}(using one robot as an example), NRC_SyncMapone { syncGroupSum=3; std::vector<std::vector<int>>syncServoMap={{5,6},{7,8},{9}} std::vector<std::vector<int>>syncType={2,2,3}; }

NRC_GetConnectServoTypeList

Function Prototype	std::vector<std::string>NRC_GetConnectServoTypeList(intnameType=0);
Description	Get Connected Servo Type List.
Parameters	InputParameters: nameTypeServonametype, 0:Chinesename, 1:Englishname
Return Value	List Of Servo Names
---	---
Remarks	None

NRC_GetSlaveNumByID

Function Prototype	std::vector<int>NRC_GetSlaveNumByID(unsignedintvendorID,unsignedintproductCode);
Description	Get Slave Number List By Slave Vendor ID And Product Code.
Parameters	InputParameters: vendorIDTheslave'svendorID productCodeTheslave'sproductCode
Return Value	List Of All Slave Numbers Of This Type
---	---
Remarks	None

NRC_GetPDOAddrMap

Function Prototype	unsignedchar*NRC_GetPDOAddrMap(unsignedintslaveNum,unsignedshortindex);
Description	Get The P Do Mapping Address Of A Slave.
Parameters	InputParameters: slaveNumSlavenumber indexPDOindex
Return Value	PDOmappingaddress,ifSlavenumbererrororNonethisPDO,then returns nullptr.IfmultiplePDOsexistatthisindex,onlyonewillbereturned
---	---
Remarks	The Returned Mapping Address, must be cast to the appropriate pointer type based on the p do data type before use

NRC_GetPDOAddrMap

Function Prototype	unsignedchar*NRC_GetPDOAddrMap(unsignedintslaveNum,unsignedshortindex,unsignedshortsubindex);
Description	Get The P Do Mapping Address Of A Slave.
Parameters	InputParameters: slaveNumSlavenumber indexPDOindex subindexPDOsub-index
Return Value	PDOmappingaddress,ifSlavenumbererrororNonethisPDO,then returns nullptr
---	---
Remarks	The Returned Mapping Address, must be cast to the appropriate pointer type based on the p do data type before use

NRC_GetEthercatIOConfig

Function Prototype	in t get ether cat IO config(int&sum,std::vector<std::string>&typeVec);
Description	Get Ether Cat IO Configuration.
Parameters	InputParameters: sumReturnsthenumberofEtherCATIOboards typeVecReturnstheEtherCATIOtype
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_EnableCustomIOFunction

Function Prototype	voidNRC_EnableCustomIOFunction();
Description	Enable Custom IO Function.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	CalltoenablebeforecallingthecontrollerstartupfunctionNRC_StartController,otherwiseitwillnottakeeffect

NRC_SetCustomIODoutConfig

Function Prototype	intNRC_SetCustomIODoutConfig(unsignedintsum,int*addr);
Description	Set Custom IO D Out Configuration.
Parameters	InputParameters: sumNumberofcustomIOdout, parameterrange:sum>=0 addrCorrespondingaddressesforcustomIOdout, One In T Value Corresponds To One Port
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Set The Number And Corresponding Addresses Of Custom IO D Out, 1representshighlevel, 0representslowlevel

NRC_SetCustomIODinConfig

Function Prototype	intNRC_SetCustomIODinConfig(unsignedintsum,int*addr);
Description	Set Custom I Odin Configuration.
Parameters	InputParameters: sumNumberofcustomIOdin, parameterrange:sum>=0 addrCorrespondingaddressesforcustomIOdin, One In T Value Corresponds To One Port
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Set The Number And Corresponding Addresses Of Custom I Odin, 1representshighlevel, 0representslowlevel

NRC_SetCheckExioEnable

Function Prototype	voidNRC_SetCheckExioEnable(boolenable);
Description	Set Built-in tcp interface extended IO detection enable flag.
Parameters	InputParameters: enableDefaultistrue(detect extended IO), when set to false, extended IO detection is disabled
Return Value	None
---	---
Remarks	SettheenableflagbeforecallingthecontrollerstartupfunctionNRC_StartController,otherwiseitwillnottakeeffect

NRC_SetRobotDHConfig

Function Prototype	intNRC_SetRobotDHConfig(NRC_RobotDHConfigconfig);
Description	Set Robot Dh Parameters.
Parameters	InputParameters: configrobotDHparameter
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Set This Parameter When The Servo Is Stopped Or In Ready Status

NRC_GetRobotDHConfig

Function Prototype	intNRC_GetRobotDHConfig(NRC_RobotDHConfig&config);
Description	Get Robot Dh Parameters.
Parameters	OutputParameters: configrobotDHparameter
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetRobotJointConfig

Function Prototype	intNRC_SetRobotJointConfig(intaxisNum,NRC_RobotJointConfigconfig);
Description	Set Robot Joint Parameters.
Parameters	InputParameters: axisNumaxisnumbertoset, parameterrange:1<=axisNum<=totalnumberofrobotaxes configrobotDHparameter
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Set This Parameter When The Servo Is Stopped Or In Ready Status

NRC_SetRobotDecareConfig

Function Prototype	intNRC_SetRobotDecareConfig(NRC_RobotDecareConfigconfig);
Description	Set Robot Cartesian Parameters.
Parameters	InputParameters: configrobotCartesianparameters,seeNRC_RobotDecareConfigstructurefordetails
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Set This Parameter When The Servo Is Stopped Or In Ready Status

NRC_GetRobotDecareConfig

Function Prototype	intNRC_GetRobotDecareConfig(NRC_RobotDecareConfig&config);
Description	Get Robot Cartesian Parameters.
Parameters	OutputParameters: configrobotCartesianparameters,seeNRC_RobotDecareConfigstructurefordetails
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetJogJointSpeedConfig

Function Prototype	intNRC_SetJogJointSpeedConfig(intaxisNum,doublemaxSpeed,doubleacc);
Description	Jog Joint Speed Setting.
Parameters	InputParameters: axisNumaxisnumbertoset,parameterrange:1<=axisNum<=totalnumberofrobotaxes maxSpeedjog,the maximum speed this axis can reach,unit:degree/second accjog,accelerationofthisaxis,unit:degree/second²
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Set This Parameter When The Servo Is Stopped Or In Ready Status

NRC_GetJogJointSpeedConfig

Function Prototype	intNRC_GetJogJointSpeedConfig(intaxisNum,double&maxSpeed,double&acc);
Description	Get Jog Joint Speed.
Parameters	InputParameters: axisNumaxisnumbertoset,parameterrange:1<=axisNum<=totalnumberofrobotaxes OutputParameters: maxSpeedjog,the maximum speed this axis can reach,unit:degree/second accjog,accelerationofthisaxis,unit:degree/second²
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetJogRectangularSpeedConfig

Function Prototype	intNRC_SetJogRectangularSpeedConfig(doublemaxSpeed,doubleacc);
Description	Jog Cartesian Speed Setting.
Parameters	InputParameters: maxSpeedjog,Cartesiancoordinatethe maximum speed that can be reached,unit:mm/second accjog,accelerationinCartesiancoordinate,unit:mm/second²
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Set This Parameter When The Servo Is Stopped Or In Ready Status

NRC_GetJogRectangularSpeedConfig

Function Prototype	intNRC_GetJogRectangularSpeedConfig(double&maxSpeed,double&acc);
Description	Get Jog Cartesian Speed.
Parameters	OutputParameters: maxSpeedjog,Cartesiancoordinatethe maximum speed that can be reached,unit:mm/second accjog,accelerationinCartesiancoordinate,unit:mm/second²
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetJogSensitivitySpeedConfig

Function Prototype	intNRC_SetJogSensitivitySpeedConfig(doublesensitivity);
Description	Set Jog Sensitivity.
Parameters	InputParameters: sensitivityThesmallerthevalue, theslowerthejogresponse;thelargerthevalue, the larger the jog error, which may cause robot shaking, unit:degree, defaultinitialvalue0.001, parameterrange:0.0001<=sensitivity<1
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Set This Parameter When The Servo Is Stopped Or In Ready Status

NRC_SetInterpolationMethod

Function Prototype	intNRC_SetInterpolationMethod(intmethod);
Description	Set Robot Interpolation Method.
Parameters	InputParameters: methodrobotmotioninterpolationmethod: -0S-curve interpolation, robot acceleration/deceleration is smoother, but acceleration/deceleration is slower compared to trapezoidal interpolation, generallyusedforlargerobots -1trapezoidalinterpolation, robot acceleration/deceleration is faster, but may cause robot shaking, overload, etc., generally used for small robots
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Set This Parameter When The Servo Is Stopped Or In Ready Status

NRC_SetAbsolutePosResolution

Function Prototype	intNRC_SetAbsolutePosResolution(doubleresolution);
Description	Set Robot Absolute Position Resolution.
Parameters	InputParameters: resolutionrobotpositionresolution, when the difference between two positions is less than this value, robot will consider these two positions as the same position, unit:degree, parameterrange:0.0001<=resolution<=0.1
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Set This Parameter When The Servo Is Stopped Or In Ready Status

NRC_SetDynamicTrackingErrorMaxAllow

Function Prototype	intNRC_SetDynamicTrackingErrorMaxAllow(inttrackingError[]);
Description	Set Maximum Allowed Dynamic Tracking Error.
Parameters	InputParameters: trackingErrorMaximumallowabledynamictrackingerror,whentrackingerrorexceedsthisvalue,therobotwillstop,Thenumberofarrayelementsshouldbeat leastrobotnumberofaxes,unit:1/10000degree,parameterrange:100<=trackingError<=5000000
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Set This Parameter When The Servo Is Stopped Or In Ready Status

NRC_SetStaticTrackingErrorMaxAllow

Function Prototype	intNRC_SetStaticTrackingErrorMaxAllow(inttrackingError[]);
Description	Set Maximum Allowed Static Tracking Error.
Parameters	InputParameters: trackingErrorMaximumallowablestatictrackingerror,whentrackingerrorexceedsthisvalue,therobotwillstop,Thenumberofarrayelementsshouldbeat leastrobotnumberofaxes,unit:1/10000degree,parameterrange:100<=trackingError<=5000000
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Set This Parameter When The Servo Is Stopped Or In Ready Status

NRC_SetRobotRangeLimit

Function Prototype	intNRC_SetRobotRangeLimit(NRC_RobotRangeLimitrange,boolenable,introbotRangeNum,intworkType,boolisInInterfer,intport,intvalue);
Description	Set Robot Range Limits.
Parameters	InputParameters: rangeseeNRC_RobotRangeLimit enableEnablerobotrange.Valuerange:0-Disable,1-Enable robotRangeNumRobotrangenumber,parameterrange:0<robotRangeNum<100 workTyperobotrangetake effect mode, parameter range: 0 output status, 1 trigger stop isInInterfertake effect range, parameter range: true takes effect within the range, false takes effect outside the range portoutput IO port number, only valid when workType is 0 valueoutput IO high/low level, parameter range: 0 low level, 1 high level
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Set This Parameter When The Servo Is Stopped Or In Ready Status

NRC_GetRobotRangeLimit

Function Prototype	intNRC_GetRobotRangeLimit(introbotRangeNum,NRC_RobotRangeLimit&range,bool&enable,int&workType,bool&isInInterfer,int&port,int&value);
Description	Get Robot Range Limits.
Parameters	InputParameters: robotRangeNumRobotrangenumber,parameterrange:0<robotRangeNum<100 OutputParameters: rangeseeNRC_RobotRangeLimit enableEnablerobotrange.Valuerange:0-Disable,1-Enable workTyperobotrangetake effect mode, parameter range: 0 output status, 1 trigger stop isInInterfertake effect range, parameter range: true takes effect within the range, false takes effect outside the range portoutput IO port number, only valid when workType is 0 valueoutput IO high/low level, parameter range: 0 low level, 1 high level
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetTeachMaxStepSpeed

Function Prototype	intNRC_SetTeachMaxStepSpeed(intmaxJointSpeed,intmaxDecareSpeed);
Description	Set Maximum Single-step speed in teach mode.
Parameters	InputParameters: maxJointSpeedteachmodesingle-step run maximum joint running speed, unit:percentage, parameterrange:0<maxJointSpeed<=100 maxDecareSpeedteachmodesingle-step run maximum linear running speed, unit:mm/s, parameterrange:2<=maxJointSpeed<=9999
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Set This Parameter When The Servo Is Stopped Or In Ready Status

NRC_GetTeachMaxStepSpeed

Function Prototype	intNRC_GetTeachMaxStepSpeed(int&maxJointSpeed,int&maxDecareSpeed);
Description	Get Maximum Single-step speed in teach mode.
Parameters	OutputParameters: maxJointSpeedteachmodesingle-step run maximum joint running speed, unit:percentage, parameterrange:0<maxJointSpeed<=100 maxDecareSpeedteachmodesingle-step run maximum linear running speed, unit:mm/s, parameterrange:2<=maxJointSpeed<=9999
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetCurrentPosToZeroPos

Function Prototype	intNRC_SetCurrentPosToZeroPos(intaxisNum,boolmod);
Description	Set Current Position To Zero Point Or Clear Multi-turn value.
Parameters	InputParameters: axisNumoperationaxis, whenaxisNumis0, means all axes, parameterrange:0<=axisNum<=totalnumberofrobotaxes modsetzeropointorclearmulti-turn value, 0forsetzeropoint, 1forclearmulti-turn value
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Setthisparameterwhentheservoisstoppedorinreadystatus executingThisfunctiontakesabouttwotothreesecondseconds Formosttypesofservo, executing this function, will servo enable power on, please ensure safety

NRC_Rbt_SetCurrentPosToZeroPos

Function Prototype	intNRC_Rbt_SetCurrentPosToZeroPos(introbotNum,intaxisNum,boolmod);
Description	Set Current Position To Zero Point Or Clear Multi-turn value(multi-robotversion).
Parameters	InputParameters: robotNumRobotnumbertosetzeropointorclearmulti-turnvalue axisNumoperationaxis, whenaxisNumis0, means all axes, parameterrange:0<=axisNum<=totalnumberofrobotaxes modsetzeropointorclearmulti-turn value, 0forsetzeropoint, 1forclearmulti-turn value
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Setthisparameterwhentheservoisstoppedorinreadystatus executingThisfunctiontakesabouttwotothreesecondseconds Formosttypesofservo, executing this function, will servo enable power on, please ensure safety

NRC_Rbt_SetSingleCircleValue

Function Prototype	intNRC_Rbt_SetSingleCircleValue(introbotNum,conststd::vector<int>&value);
Description	Set Zero Point Single-turn value(multi-robotversion).
Parameters	InputParameters: robotNumRobotnumbertosetzeropointorclearmulti-turnvalue valueSingle-turn value array for each axis zero point position, 0<value.size()<=7
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	This Operation May Cause Loss Of Robot Precision, cannot run normally, previously established points cannot run, etc., please operate with caution

NRC_Rbt_GetSingleCircleValue

Function Prototype	intNRC_Rbt_GetSingleCircleValue(introbotNum,std::vector<int>&value);
Description	Get Zero Point Single-turn value(multi-robotversion).
Parameters	InputParameters: robotNumRobotnumbertosetzeropointorclearmulti-turnvalue OutputParameters: valueRetrievedvaluesarestoredinthisarray
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetUserCoordParm

Function Prototype	intNRC_SetUserCoordParm(intuserNum,constNRC_Position&deviation);
Description	Set User Coordinate Parameters.
Parameters	InputParameters: userNumusercoordinatesystemnumbertoset,parameterrange:0<userNum<1000 deviationusercoordinatesystemorigin relative to the robot Cartesian coordinate system origin offset value -deviation.coordthisparameteris not used -deviation.pos[0]-deviation.pos[2]Offsetofx,y,zaxispositionsrespectivelyvalue,unit: mm -deviation.pos[3]-deviation.pos[5]Offsetofx,y,zaxisdirectionsrespectivelyvalue,unit:radian
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	SettheoffsetvalueoftheusercoordinatesystemoriginrelativetotherobotCartesiancoordinatesystemorigintodeterminetheusercoordinatesystem Inactualuse,itisdifficulttomeasurethedirectionaloffsetvalue,so this function is rarely used; generally, useNRC_CalibrationUserCoord(intuserNum,NRC_Position&origin,NRC_Position&X_Axis,NRC_Position&XOY_Plane)functiontocalibrateusercoordinate,automaticallycalculatestheoffsetvalue

NRC_GetUserCoordParm

Function Prototype	intNRC_GetUserCoordParm(intuserNum,NRC_Position&deviation);
Description	Get User Coordinate Parameters.
Parameters	InputParameters: userNumUsercoordinatesystemnumber,parameterrange:0<userNum<1000 OutputParameters: deviationusercoordinatesystemorigin relative to the robot Cartesian coordinate system origin offset value -deviation.coordthisparameteris not used -deviation.pos[0]-deviation.pos[2]Offsetofx,y,zaxispositionsrespectivelyvalue,unit: mm -deviation.pos[3]-deviation.pos[5]Offsetofx,y,zaxisdirectionsrespectivelyvalue,unit:radian
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_CalibrationUserCoord

Function Prototype	intNRC_CalibrationUserCoord(intuserNum,constNRC_Position&origin,constNRC_Position&X_Axis,constNRC_Position&XOY_Plane);
Description	Calibrate User Coordinate, calibrates the user coordinate system, automatically calculates the offset value of the user coordinate system origin relative to the robot cartesian coordinate system origin, there by determining the user coordinate system.
Parameters	InputParameters: userNumusercoordinatesystemnumbertocalibrate,parameterrange:0<userNum<10 originusercoordinatesystemorigin in the robot Cartesian coordinate system X_Axisusercoordinatesystemany point in the positive X-axis direction in the robot Cartesian coordinate system XOY_Planeusercoordinatesystemany point in the XOY plane in the robot Cartesian coordinate system
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SwitchUserCoord

Function Prototype	intNRC_SwitchUserCoord(inttagetUser);
Description	Switch Current User Coordinate.
Parameters	InputParameters: tagetUserThetargettoswitchtoUsercoordinatesystemnumber, parameterrange:0<tagetUser<10
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetCurrentUserCoord

Function Prototype	intNRC_GetCurrentUserCoord();
Description	Get Current User Coordinate Number.
Parameters	None
Return Value	User Coordinate Number
Remarks	None

NRC_SetToolCoordParm

Function Prototype	intNRC_SetToolCoordParm(inttoolNum,constNRC_Position&deviation,conststd::vector<double>&payload=std::vector<double>(5,0.0),boolload=false);
Description	Set Tool Parameters.
Parameters	InputParameters: toolNumtobesettoolnumber,parameterrange:0<toolNum<1000 deviationOffsetofthetooltippositionrelativetotherobotendpositionvalue -deviation.coordthisparameteris not used -deviation.pos[0]-deviation.pos[2]Offsetofx,y,zaxispositionsrespectivelyvalue,unit: mm -deviation.pos[3]-deviation.pos[5]Offsetofx,y,zaxisdirectionsrespectivelyvalue,for4-axisSCARArobotthisparameteris not used,unit:radian payload The total number of runs for the current job file; set to 0 for continuous looping,parameterrange:index>=0 -payload[0]Payloadmass,unit:kg -payload[1] Load inertia, unit: 0.001 kg/m\u00b2 -payload[2]~payload[4] represent center of mass X, Y, Z, unit: meters,range[-999999,999999] load whether to modify payload mass and other parameters, default is false (do not modify), true then performs modification
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	In actual use, it is generally based on the tool design drawing; directly fill in this parameter

NRC_GetToolCoordParm

Function Prototype	intNRC_GetToolCoordParm(inttoolNum,NRC_Position&deviation,std::vector<double>&payload);
Description	Get Tool Parameters.
Parameters	InputParameters: toolNumtoberetrievedtoolnumber, parameterrange:0<toolNum<1000 OutputParameters: deviationToolparameterstoget, Offsetofthetooltippositionrelativetotherobotendpositionvalue payloadToolpayloadmassandotherparameterstoget
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_CalibrationToolCoord_7Pos

Function Prototype	intNRC_CalibrationToolCoord_7Pos(inttoolNum,NRC_Position&pos1,NRC_Position&pos2,NRC_Position&pos3,NRC_Position&pos4,NRC_Position&pos5,NRC_Position&pos6,NRC_Position&pos7,intcalibrationPointNum=7);
Description	Calibrate Tool--7-point calibration method, calibrates the tool, automatically calculates the offset value of the tool end position relative to the robot end position, there by determining the tool coordinate system.
Parameters	InputParameters: toolNumtoberetrievedtoolnumber,parameterrange:0<toolNum<1000 pos1willtoolend-effectoraligned to a fixed tip,andmaintain the tool in a vertical position pos2willtoolend-effectoraligned to a fixed tip,select a position that is not the same as pos1, pos3, or pos4 pos3willtoolend-effectoraligned to a fixed tip,select a position that is not the same as pos1, pos2, or pos4 pos4willtoolend-effectoraligned to a fixed tip,select a position that is not the same as pos1, pos2, or pos3 pos5maintain the tool in a vertical position,can be the same position as pos1 pos6relativetopos5 is a position in the positive X-axis direction relative to pos5 pos7is a position in the positive Y-axis direction relative to pos6 calibrationPointNum6:6: six-point calibration, 7: seven-point calibration
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	The7-pointcalibrationmethodisonlyvalidfor6-axis serial robots!

NRC_SwitchToolCoord

Function Prototype	intNRC_SwitchToolCoord(inttagetTool);
Description	Switch Current Tool.
Parameters	InputParameters: tagetUserThetargettoswitchtotoolnumber, 0indicatesnotool, parameterrange:0<=tagetTool<10
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetCurrentToolCoord

Function Prototype	intNRC_GetCurrentToolCoord();
Description	Get Current Tool Number.
Parameters	None
Return Value	Current Tool Number, toolThedefaultinitialvalueis0, i.e., no tool
Remarks	None

NRC_CalibrationToolCoord_2Pos_SetPos

Function Prototype	intNRC_CalibrationToolCoord_2Pos_SetPos(intposNum,constNRC_Position&pos);
Description	2-point calibration-set point data.
Parameters	InputParameters: posNumThecalibrationpointnumber, parameterrange:1<=posNum<=2 poscalibrationpositionofthepoint, must be position in joint coordinate system
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Example: NRC_CalibrationToolCoord_2Pos_SetPos(1,pos1); NRC_CalibrationToolCoord_2Pos_SetPos(2,pos2); if(NRC_CalibrationToolCoord_2Pos_Cacl()==0) { //Writecalibrationresulttotool1 NRC_CalibrationToolCoord_2Pos_Save(1); }

NRC_CalibrationToolCoord_2Pos_Cacl

Function Prototype	intNRC_CalibrationToolCoord_2Pos_Cacl();
Description	2-point calibration-calculate calibration result.
Parameters	None
Return Value	Whetherthecalibrationresultcalculationsucceeded0Calculationsucceeded-1Calculationfailed
Remarks	None

NRC_CalibrationToolCoord_2Pos_Save

Function Prototype	intNRC_CalibrationToolCoord_2Pos_Save(inttagetTool);
Description	Writethe2-point calibration result to the specified tool.
Parameters	InputParameters: tagetToolThetoolnumbertowriteto, parameterrange:1<tagetTool<10
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_ecatSetCommand

Function Prototype	intNRC_ecatSetCommand(unsignedintaxisNum,unsignedintindex,unsignedintsubindex,unsignedchar*value,unsignedintsize);
Description	Set The Value Of A Servo Command Word.
Parameters	InputParameters: axisNumrobotaxisnumber indexCommandwordcode subindexCommandwordsub-code valueThevaluetoset sizeThebytesizeofthevaluecorrespondingtothecommandword
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Example: unsignedshortvalue=3000; NRC_ecatSetCommand(1,0x6072,0,(signedshort*)&value,sizeof(value));

NRC_ecatGetCommand

Function Prototype	intNRC_ecatGetCommand(unsignedintaxisNum,unsignedintindex,unsignedintsubindex,unsignedchar*value,unsignedintsize);
Description	Read The Value Of A Servo Command Word.
Parameters	InputParameters: axisNumrobotaxisnumber indexCommandwordcode subindexCommandwordsub-code sizeThebytesizeofthevaluecorrespondingtothecommandword OutputParameters: valueResultstoredviathispointer
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Example: unsignedshortvalue=0; NRC_ecatGetCommand(1,0x6041,0,(unsignedchar*)&value,sizeof(value)); printf("value=%d\n",value); unsignedintvalue=0; NRC_ecatGetCommand(3,0x202C,0,(unsignedchar*)&value,sizeof(value)); printf("value=%d\n",value);

NRC_ModifyControllerIP

Function Prototype	intNRC_ModifyControllerIP(conststd::string&name,conststd::string&ip,conststd::string&gateway,conststd::string&dns);
Description	Modify Controller IP Address.
Parameters	InputParameters: nameNetworkinterfacename ipThetargetIPtomodifyto, mustconformtoIPrules gatewayControllergateway dnsControllerDNS
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	After Modification, you must remember the modified IP, otherwise you cannot reconnect to the controller and will need to return it for factory service!

NRC_RestoreFactorySettings

Function Prototype	intNRC_RestoreFactorySettings(boolclearConfigFile,boolclearExtendedFile);
Description	Restore Factory Settings.
Parameters	InputParameters: clearConfigFileallsystemconfigurationfiles clearExtendedFileallextendedfiles
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Afterrestoringfactorysettings,alldatainthecontrollerwillbecleared.Pleaseproceedwithcaution. after calling this function, the controller will restart immediately

NRC_RebootController

Function Prototype	intNRC_RebootController();
Description	Reboot Controller.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	after calling this function, the controller will restart immediately

NRC_GetCurrentMotorVel

Function Prototype	intNRC_GetCurrentMotorVel(doublevel[]);
Description	Get Motor Speed.
Parameters	OutputParameters: velmotor speed will be returned via array,Thenumberofarrayelementsshouldbeat leastrobotnumberofaxes
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_Rbt_GetCurrentMotorVel

Function Prototype	intNRC_Rbt_GetCurrentMotorVel(introbotNum,doublevel[]);
Description	Get Motor Speed(multi-robotversion).
Parameters	InputParameters: robotNumPass robot number(1-4) OutputParameters velmotor speed will be returned via array,Thenumberofarrayelementsshouldbeat leastrobotnumberofaxes
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetCurrentTrackingError

Function Prototype	intNRC_GetCurrentTrackingError(doubletrackingError[]);
Description	Get Current Tracking Error.
Parameters	OutputParameters trackingErrorcurrenttrackingerrorwill be returned via array,Thenumberofarrayelementsshouldbeat leastrobotnumberofaxes
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetMaxTrackingError

Function Prototype	intNRC_GetMaxTrackingError(doublemaxTrackingError[]);
Description	Get Maximum Tracking Error.
Parameters	OutputParameters maxTrackingErrormaximumtrackingerrorwill be returned via array,Thenumberofarrayelementsshouldbeat leastrobotnumberofaxes
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetRobotAxisSum

Function Prototype	intNRC_GetRobotAxisSum();
Description	Get Robot Axis Count.
Parameters	None
Return Value	Robot Axis Count
Remarks	None

NRC_GetSyncAxisSum

Function Prototype	intNRC_GetSyncAxisSum();
Description	Get External Axis Count.
Parameters	None
Return Value	External Axis Count
Remarks	None

NRC_GetCurrentTime

Function Prototype	NRC_TIMENRC_GetCurrentTime();
Description	Get Current Time.
Parameters	None
Return Value	NRC_TIMEstruct
Remarks	None

NRC_SetMsgHappenCallback

Function Prototype	intNRC_SetMsgHappenCallback(void(*fun)(void));
Description	Set Callback Function For Message Occurrence.
Parameters	InputParameters: funFunctionpointerofthecallbackfunction
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	When A Message Occurs, this callback function will be called

NRC_FirstMessagePop

Function Prototype	NRC_MessageNRC_FirstMessagePop();
Description	Pop The Earliest Message From The Queue.
Parameters	None
Return Value	returns the earliest message in the queue and removes this message from the queue
Remarks	None

NRC_LastMessagePop

Function Prototype	NRC_MessageNRC_LastMessagePop();
Description	Pop The Latest Message From The Queue.
Parameters	None
Return Value	returns the latest message in the queue and removes this message from the queue
Remarks	None

NRC_GetMessage

Function Prototype	intNRC_GetMessage(intnum,NRC_Message&msg);
Description	Get The Num-th message in the queue.
Parameters	InputParameters: nummessagenumberinthequeuetoretrieve,Theearliestmessageisnumbered1.Valuerange:0<num<=NRC_GetMessageSize() OutputParameters: msgthe message to retrieve is returned via this parameter
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Getthenum-thmessageinthequeue,does not remove this message

NRC_GetMessageSize

Function Prototype	intNRC_GetMessageSize();
Description	Get Total Message Count In The Queue.
Parameters	None
Return Value	Total Number Of Messages In The Queue
Remarks	None

NRC_ClearMessage

Function Prototype	voidNRC_ClearMessage();
Description	Get Current User Coordinate Number.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_ClearServoError

Function Prototype	intNRC_ClearServoError();
Description	Clear Servo Errors.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Not All Servo Errors CAN Be Cleared Directly, Some Errors Require The Error Condition To Be Resolved Before They CAN Be Cleared!

NRC_ClearAllError

Function Prototype	intNRC_ClearAllError();
Description	Clear All Errors, clear the message queue, and clear servo errors.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Not All Servo Errors CAN Be Cleared Directly, Some Errors Require The Error Condition To Be Resolved Before They CAN Be Cleared!

NRC_GetAngularVel

Function Prototype	intNRC_GetAngularVel(double*angular);
Description	Get Joint Angular Velocity, unit rad/s.
Parameters	OutputParameters: angularangularvelocityarray, maximumlengthto12
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetLinerVel

Function Prototype	intNRC_GetLinerVel(double&linevel);
Description	Get Joint Linear Velocity, unit mm/s.
Parameters	OutputParameters: linevelend-effect or linear velocity
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetAxisVelSync

Function Prototype	intNRC_GetAxisVelSync(double*syncangular);
Description	Get External Axis Motion Speed.
Parameters	OutputParameters: syncangularmotionvelocityarray, maximumlengthto12
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	If External Axis Is Linear, unit is mm/s, if joint axis, unitis°/s

NRC_GetTorq

Function Prototype	intNRC_GetTorq(double*torq);
Description	Get Torque Of Each Joint, unit is per mille.
Parameters	OutputParameters: torqreturnedasanarrayofeachjoint'storquevalues
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_Rbt_GetTorq

Function Prototype	intNRC_Rbt_GetTorq(introbotNum,double*torq);
Description	gets each joint torque in per mille units multi-robot version.
Parameters	InputParameters: robotNumrobotnumber OutputParameters: torqreturnedasanarrayofeachjoint'storquevalues
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetSyncTorq

Function Prototype	intNRC_GetSyncTorq(double*torq);
Description	Get Torque Of Each External Axis Joint, unit is per mille.
Parameters	OutputParameters: torqreturnedasanarrayofeachexternalaxisjoint'storquevalues
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_Rbt_GetSyncTorq

Function Prototype	intNRC_Rbt_GetSyncTorq(introbotNum,double*torq);
Description	gets each external axis joint torque in per mille units multi-robot version.
Parameters	InputParameters: robotNumrobotnumber OutputParameters: torqreturnedasanarrayofeachexternalaxisjoint'storquevalues
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetRatedTorque

Function Prototype	intNRC_GetRatedTorque(double*ratedTorq);
Description	Get Rated Torque Of Each Joint.
Parameters	InputParameters: syncangularmotionvelocityarray, maximumlengthto12
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_Rbt_GetRatedTorque

Function Prototype	intNRC_Rbt_GetRatedTorque(introbotNum,double*ratedTorq);
Description	Get Rated Torque Of Each Joint(multi-robotversion).
Parameters	InputParameters: ratedTorqreturnedasanarrayofeachjoint'sratedtorquevalues
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetSyncJointNum

Function Prototype	intNRC_SetSyncJointNum(intsyncGroupNum,std::vector<int>syncGroupType);
Description	Set Robot External Axis Count.
Parameters	InputParameters: syncGroupNumtobesetnumberofexternalaxisgroups, parameterrange:0<=syncGroupNum<=3 syncGroupTypeExternalaxisgrouptypetosets, 1:Single-axis position er, 2:Dual-axis position er, 3:
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Setthisparameterwhentheservoisstoppedorinreadystatus. Restartisrequiredforchangestotakeeffect!!!

NRC_Rbt_GetSyncJointType

Function Prototype	intNRC_Rbt_GetSyncJointType(introbot,std::vector<int>&sync_group_type);
Description	Get Robot External Axis Group Type.
Parameters	InputParameters: robotrobotnumber,0<robot<=4 OutputParameters: sync_group_typethe data retrieved is stored in the sync_group_type container in the order of external axis connections
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	External Axis Group Types, 1:Single-axis position er, 2:Dual-axis position er, 3:Groundrail

NRC_GetSyncRackConversionRatio

Function Prototype	intNRC_GetSyncRackConversionRatio(double&xDirection,double&yDirection,double&zDirection);
Description	Get External Axis Rack Conversion Ratio.
Parameters	OutputParameters: xDirectionXdirection yDirectionYdirection zDirectionZdirection
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetSyncRackConversionRatio

Function Prototype	IntNRC_SetSyncRackConversionRatio(doublexDirection,doubleyDirection,doublezDirection);
Description	Set External Axis Rack Conversion Ratio.
Parameters	InputParameters: xDirectionXdirection yDirectionYdirection zDirectionZdirection
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetSyncCooperation

Function Prototype	intNRC_SetSyncCooperation(boolcoopertion);
Description	Set Whether External Axis Rack Is Cooperative.
Parameters	InputParameters: coopertion:Whethercooperative
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetSyncCooperation

Function Prototype	intNRC_GetSyncCooperation(intsyncGroupNum);
Description	Get Whether External Axis Rack Is Cooperative.
Parameters	InputParameters: syncGroupNum:axisgroup, parameterrange:1<=syncGroupNum<=3
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_CalSyncCalibrationResult

Function Prototype	intNRC_CalSyncCalibrationResult(intsyncGroupNum);
Description	Calculate External Axis Calibration Result.
Parameters	InputParameters: syncGroupNumaxisgroup, parameterrange:1<=syncGroupNum<=3
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetSyncGroupNum

Function Prototype	intNRC_GetSyncGroupNum();
Description	Get Current External Axis Group Number.
Parameters	None
Return Value	External Axis Group Number
Remarks	None

NRC_SetSyncGroupNum

Function Prototype	intNRC_SetSyncGroupNum(intsyncGroupNum);
Description	Set Robot External Axis Group Number.
Parameters	InputParameters: syncGroupNumtobesetaxisgroup, parameterrange:1<=syncGroupNum<=3
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetSyncGroupCarbinarion

Function Prototype	intNRC_GetSyncGroupCarbinarion(intsyncGroupNum);
Description	Query Whether A Group Of External Axes Is Calibrated.
Parameters	InputParameters: syncGroupNumqueryaxis group,parameterrange:1<=syncGroupNum<=3
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetSyncGroupCarbinarion

Function Prototype	intNRC_SetSyncGroupCarbinarion(intsyncGroupNum,intpointNum);
Description	Calibrate External Axis Points(groupnumber,pointnumber).
Parameters	InputParameters: syncGroupNumtobesetaxisgroup, parameterrange:1<=syncGroupNum<=3 pointNumpointnumbertoset, 0<=pointNum<=4
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetSyncJointPara

Function Prototype	intNRC_SetSyncJointPara(intsyncGroupNum,intsyncAxisNum,NRC_RobotJointConfigconfig);
Description	Set Robot External Axis Parameters.
Parameters	InputParameters: syncGroupNumtobesetaxisgroup,parameterrange:1<=syncGroupNum<=3 syncAxisNumthe axis to set within the axis group,parameterrange:1<=syncAxisNum<=2 configseeNRC_RobotJointConfig
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Set This Parameter When The Servo Is Stopped Or In Ready Status

NRC_GetSyncJointPara

Function Prototype	intNRC_GetSyncJointPara(intsyncGroupNum,intsyncAxisNum,NRC_RobotJointConfig&config);
Description	Get Robot External Axis Parameters.
Parameters	InputParameters: syncGroupNumtobesetaxisgroup,parameterrange:1<=syncGroupNum<=3 syncAxisNumthe axis to set within the axis group,parameterrange:1<=syncAxisNum<=2 OutputParameters: configseeNRC_RobotJointConfig
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetSyncJogJointSpeedConfig

Function Prototype	intNRC_SetSyncJogJointSpeedConfig(intgroupNum,intaxisNum,doublemaxSpeed,doubleacc);
Description	Set Robot External Axis Jog Joint Speed.
Parameters	InputParameters: groupNumaxisgroupnumbertoset,parameterrange:1<=groupNum<=externalaxisgrouptotal axisNumaxis number to set within the axis group,parameterrange:1<=axisNum<=total axes in the axis group maxSpeedjog,the maximum speed this axis can reach,unit:degree/second accjog,accelerationofthisaxis,unit:degree/second²
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Set This Parameter When The Servo Is Stopped Or In Ready Status

NRC_GetSyncJogJointSpeedConfig

Function Prototype	intNRC_GetSyncJogJointSpeedConfig(intgroupNum,intaxisNum,double&maxSpeed,double&acc);
Description	Get Robot External Axis Jog Joint Speed.
Parameters	InputParameters: groupNumaxisgroupnumbertoset,parameterrange:1<=groupNum<=externalaxisgrouptotal axisNumaxis number to set within the axis group,parameterrange:1<=axisNum<=total axes in the axis group OutputParameters: maxSpeedjog,the maximum speed this axis can reach,unit:degree/second accjog,accelerationofthisaxis,unit:degree/second²
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetCurrentSyncPosToZeroPos

Function Prototype	intNRC_SetCurrentSyncPosToZeroPos(intaxisNum,boolmod);
Description	Set External Axis Current Position To Zero Point Or Clear Multi-turn value.
Parameters	InputParameters: axisNumoperationaxis,WhenaxisNumis0,itrepresentsallexternalaxes,parameterrange:0<=axisNum<=total number of external axes modsetzeropointorclearmulti-turnvalue,0forsetzeropoint,1forclearmulti-turnvalue
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Setthisparameterwhentheservoisstoppedorinreadystatus. executingThisfunctiontakesabouttwotothreesecondseconds. Formosttypesofservo, executing this function, will servo enable power on, please ensure safety.

NRC_RobotMoveJointSync

Function Prototype	intNRC_RobotMoveJointSync(intvel,NRC_Positiontarget,constNRC_SyncPosition&targetSync,intacc,intdec);
Description	Robot External Axis Point-to-point motion, robot external axis moves from current position to sync target position in point-to-point mode at vel speed.
Parameters	InputParameters: velrobotexternalaxisrunningspeed,torobotexternalaxismaximumspeedpercentage,parameterrange:0<vel<=100 targetrobotbodymotiontargetposition,seeNRC_Position targetSyncrobotexternal axis motion target position,seeNRC_SyncPosition accrobotexternalaxisrunacceleration,torobotexternalaxiseachjointmaximumaccelerationpercentage,parameterrange:0<vel<=100 decrobotexternal axis run deceleration,torobotexternalaxiseachjointmaximum deceleration percentage,parameterrange:0<vel<=100
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Beforecallingthisfunction,poweronenable,you may callNRC_ServoEnable()function to power on the servo.Aftersuccessfullycallingthisfunction,,robotthe external axis will start moving,pleaseensuresafety.

NRC_RobotMoveLineSync

Function Prototype	intNRC_RobotMoveLineSync(intvel,NRC_Positiontarget,constNRC_SyncPosition&targetSync,intacc,intdec);
Description	Robot External Axis Linear Motion, robot body moves from current position to target position in linear mode at vel speed, robot external axis moves from current position to sync target position in point-to-point mode at vel speed.
Parameters	InputParameters: velRobotrunningspeedasapercentageofmaximumspeed,parameterrange:0<vel<=100 accRobotrunningaccelerationasapercentageofeachjoint'smaximumacceleration,parameterrange:0<vel<=100 decRobotrunningdecelerationasapercentageofeachjoint'smaximumdeceleration,parameterrange:0<vel<=100 targetRobotmotiontargetposition,seeNRC_Position targetSyncexternal axis motion target position,seeNRC_SyncPosition
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Beforecallingthisfunction,poweronenable,you may callNRC_ServoEnable()function to power on the servo.Aftersuccessfullycallingthisfunction,,robotthe external axis will start moving,pleaseensuresafety.

NRC_GetCurrentSyncPos

Function Prototype	intNRC_GetCurrentSyncPos(NRC_SyncPosition&position);
Description	Getexternalaxiscurrentposition.Thisfunctioncangettheexternalaxisposition;positiondataisreturnedviaparameterreference.
Parameters	OutputParameters: NRC_SyncPositionexternalaxiscurrentposition
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_Rbt_GetCurrentSyncPos

Function Prototype	intNRC_Rbt_GetCurrentSyncPos(introbotNum,NRC_SyncPosition&position);
Description	Get External Axis Current Position(multi-robotversion).ThisfunctioncangettheexternalaxispositioninthecoordCoordinatesystem;positiondataisreturnedviaparameterreference.
Parameters	InputParameters: robotNumrobotnumber(1-4) OutputParameters: NRC_SyncPositionexternalaxiscurrentposition
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_PosReachable

Function Prototype	intNRC_PosReachable(NRC_Positiontarget,NRC_SyncPositionsyncTarget,bool&result);
Description	This Function Checks If The Robot Body Target And External Axis Sync Target Exceed Limits, result returned via result parameter, true means reachable, false means unreachable.
Parameters	InputParameters: targetseeNRC_Position syncTargetseeNRC_SyncPosition OutputParameters: resulttrue means reachable,Each value is false means unreachable
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetIdentityParam

Function Prototype	intNRC_SetIdentityParam(intsize,intvel,double&zMax,double&zMin);
Description	This Function Sets The Two Parameters Required For Dynamics Identification And Return The Maximum And Minimum Values Of The Robot End-effect or on the z-axis within the current trajectory range.
Parameters	InputParameters: size,Controlstherangeoftheidentificationtrajectory vel,Controlsthespeedoftheidentificationtrajectory OutputParameters: zMaxend-effectormaximum Z value during running zMinend-effectorminimum Z value during running
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	During the dynamics identification process, the robot will move through a large range of motion. Therefore, ensure the robot motion range is clear and free of obstacles. Before executing the dynamics identification function, please read the following precautions carefully: **1. Currently, the dynamics identification function only supports 6-axis robot identification of the robot body under no-load status. **2. The dynamics parameters obtained by this identification method are unrelated to manually entered dynamics parameters. **3. Before executing the identification program, ensure the robot motion range is clear and free of obstacles. **4. The range of the identification trajectory is controlled by the size parameter (100 = maximum range). The speed of the identification trajectory is controlled by the vel parameter (100 = maximum speed). This identification trajectory runs for several seconds to 10 seconds. **5. Rules for setting identification trajectory parameters: First, set a small vel value (recommended 20) and a small size value (recommended 20), then execute the safety check program (NRC_RunSafeCheckProgram). *On the basis of safety, gradually increase the size value until reaching the maximum safe run range (this size value may not reach 100, depending on the robot run environment). *After obtaining the maximum size value allowed by the environment, set the vel value to 100 and execute the identification program (NRC_RunIdentifyProgram). **6. When executing identification, the vel value must be 100, while the size value has no fixed value (theoretically, the closer size is to 100, the higher the identification precision).

NRC_RunSafeCheckProgram

Function Prototype	intNRC_RunSafeCheckProgram();
Description	Runrangesafetycheckprogram.Thisfunctionrunsthedynamicsidentificationtrajectoryoncetoconfirmthatthesurroundingenvironmentissafe, ensuring the robot will not hit people or objects during identification.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_RunIdentifyProgram

Function Prototype	intNRC_RunIdentifyProgram();
Description	Executedynamicsidentificationprogram.Thisfunctionperformsdynamicsidentificationbyrunningalongapredeterminedtrajectorytentimes.Aftereachrun, it calculates and returns the error between theoretical and actual torque values.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetIdentifyError

Function Prototype	intNRC_GetIdentifyError(double*error);
Description	Gettenidentificationtorqueerrorvalues.Thisfunctiongetstheerrorvaluesbetweentheoreticalandactualtorquefromtenidentificationcalculations.
Parameters	OutputParameters: errorReturnstheerrorvaluesbetweentheoreticalandactualtorque,array length is 60,Every 6 data points represent the error value of one run trajectory, for a total of ten trajectory error values
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_StopIdentityProgram

Function Prototype	intNRC_StopIdentityProgram();
Description	Stop Dynamics Identification Program.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetCollisionParam

Function Prototype	intNRC_SetCollisionParam(double*param);
Description	ThisfunctionSettheabsolutevalueofthedifferencebetweentheoreticalandactualtorqueforeachjointwhenacollisionisdetermined.Thelargerthevalue, the lower the collision detection sensitivity.
Parameters	InputParameters: paramisa6-element array, from the first element to the last, representingthethresholdsofjoints1through6
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetCollisionSwitch

Function Prototype	intNRC_SetCollisionSwitch(boolparam);
Description	This Function Enable Or Disable Collision Detection.
Parameters	InputParameters: paramtrueenablescollisiondetection, false disables collision detection
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetCollisionSwitch

Function Prototype	intNRC_GetCollisionSwitch(double*syncangular);
Description	This Function Check If Collision Detection Is Enabled.
Parameters	OutputParameters: paramtruemeanscollisiondetectionisenabled, false means collision detection is disabled
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_CalcConfiguration

Function Prototype	intNRC_CalcConfiguration(double*acsPos,int&conf);
Description	ThisfunctionCalculatestheconfigurationofeachjointatacsPos,validonlyforR_GENERAL_6Srobottype,forotherrobottypesconfvalueis0.
Parameters	InputParameters: acsPos6-elementarrayforpassingineachjointpositionoftherobot OutputParameters: confOutputsthecalculatedrobotconfigurationvalue,0 means the robot type is not R_GENERAL_6S, 1-8 correspond to the 8 configuration values of the robot
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetSocketCustomProtocalCB

Function Prototype	intNRC_SetSocketCustomProtocalCB(intcommandNum,void(*fun)(std::string));
Description	This Function Customizes The Socket Communication Protocol.
Parameters	InputParameters: commandNumCommunicationnumber,range0x9200-0x920e (*fun)(string)function handle, i.e., the function to be called for the commandNum instruction
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SendSocketCustomProtocal

Function Prototype	intNRC_SendSocketCustomProtocal(intcommandNum,std::stringstr);
Description	Send Socket Communication.
Parameters	InputParameters: commandNumCommunicationnumber, range0x9200-0x920e strThecontenttosend
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetTeachBoxConnectStatus

Function Prototype	boolNRC_GetTeachBoxConnectStatus();
Description	Get Whether The Teach Pendant Is Connected.
Parameters	None
Return Value	Whether The Teach Pendant Is Connected
Remarks	None

NRC_SetJobFileCustomInstructionCB

Function Prototype	intNRC_SetJobFileCustomInstructionCB(bool(*fun)(int,conststd::string&,conststd::string&));
Description	This Function Binda Function To A Custom Instruction.
Parameters	InputParameters: (*fun)(int,std::string,std::string)function pointer, i.e., custom instruction to be called function
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	The parameters in the callback function pointer are respectively: the custom instruction number, the custom instruction string parameter, and the name of the calling point for the custom instruction (empty string if not called)

NRC_SetJobFileCustomInstructionPreTreatmentCB

Function Prototype	intNRC_SetJobFileCustomInstructionPreTreatmentCB(void(*fun)(int,conststd::string&,conststd::string&));
Description	This Function Binda Function To The Pre-processing function of a custom instruction.
Parameters	InputParameters: (*fun)(int,std::string,std::string)function pointer, i.e., custom instruction the pre-processing function to be called.
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	The parameters in the callback function pointer are respectively: the custom instruction number, the custom instruction string parameter, and the name of the calling point for the custom instruction (empty string if not called)

NRC_SetJobFileCustomInstructionPostTreatmentCB

Function Prototype	intNRC_SetJobFileCustomInstructionPostTreatmentCB(void(*fun)(int,conststd::string&,conststd::string&));
Description	This Function Binda Function To The Post-processing function of a custom instruction.
Parameters	InputParameters: (*fun)(int,std::string,std::string)function pointer, i.e., custom instruction the post-processing function to be called.
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	The parameters in the callback function pointer are respectively: the custom instruction number, the custom instruction string parameter, and the name of the calling point for the custom instruction (empty string if not called)

NRC_ParseJobfileToAppendRunInstruction

Function Prototype	intNRC_ParseJobfileToAppendRunInstruction(conststd::string&fileName,std::vector<NRC_InstrDataBase*>&instrVec);
Description	This Function Parse All Instructions In A Job File Into A Queue That CAN Be Used As Append Mode Instructions.
Parameters	InputParameters: fileNameThenameofthejobfiletoparse OutputParameters: instrVecTheappendmodeinstructionqueueobtainedafterparsing
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_TriggerErrorReport

Function Prototype	intNRC_TriggerErrorReport(intkind,conststd::string&text);
Description	User Actively Triggers An Error Report.
Parameters	InputParameters: kindMessagelevel:0:Generalmessage, 1:Warningmessage, 2:Errormessage, 3:Importantmessage textErrorcontent
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetOpenJobFileName

Function Prototype	intNRC_GetOpenJobFileName(std::string&name);
Description	This Function Gets The Name Of The Currently Opened Job File.
Parameters	OutputParameters: nameReturnsthenameofthecurrentlyopenedjobfile
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SendCursorJumpCmdToTeachbox

Function Prototype	intNRC_SendCursorJumpCmdToTeachbox(conststd::string&name,intline);
Description	Callthisinterfacetosendacursorjumpcommandtotheteachpendant.Aftertheteachpendantresponds, the cursor will jump to the specified line of the specified job file.
Parameters	InputParameters: linejump tospecifiedjobfileatthespecifiedline OutputParameters: nameReturnsthenameofthecurrentlyopenedjobfile
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SingleSyncAxisMoveJConstVel_For_CustomInstructionCB

Function Prototype	intNRC_SingleSyncAxisMoveJConstVel_For_CustomInstructionCB(intsyncAxis,doublevel);
Description	Callthisinterface;inrunmode, theexternalaxissyncAxiswillmoveataconstantvel.Ifmultiplecallsaremadesimultaneously, only the first call is effective.
Parameters	InputParameters: syncAxisTheexternalaxisnumbertomove,startingfrom1.E.g.,tomoveexternalaxis1,pass1forsyncAxis. velMotionspeed,unitdegrees per second
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_StopSingleSyncAxisMoveJConstVel_For_CustomInstructionCB

Function Prototype	intNRC_StopSingleSyncAxisMoveJConstVel_For_CustomInstructionCB();
Description	Callthisinterfacetostoptheexternalaxisconstantvelocitymotion.Thisinterfacemustbecalledwhenexternalaxisconstantvelocitymotionisactive;otherwiseitreturns-1.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetSingleSyncAxisMoveJConstVelMoving

Function Prototype	intNRC_GetSingleSyncAxisMoveJConstVelMoving(bool&moving);
Description	Call This Interface To Get The Single External Axis Constant Velocity Motion Flag.
Parameters	OutputParameters: movingtrueindicatesNRC_SingleSyncAxisMoveJConstVel_For_CustomInstructionCBisactive,falseindicatesNRC_SingleSyncAxisMoveJConstVel_For_CustomInstructionCBisnotactive
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_ResetSyncAxisMultipleTurns

Function Prototype	intNRC_ResetSyncAxisMultipleTurns(intsyncAxis);
Description	Call This Interface To Reset The External Axis Current Position To Within-360°~360°.Thishasthesameeffectasthe"ResetExternalAxisMulti-turn"commandintheteachpendantinterface.Thisinterfacecanonlyresetasingleexternalaxis.
Parameters	InputParameters: TheexternalAxisnumbertoreset, startingfrom1, e.g., toresetexternalaxis1, pass1forsyncAxis
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetFaultResetCB

Function Prototype	intNRC_SetFaultResetCB(void(*fun)());
Description	ThisfunctionSeterrorclearbuttoncallbackfunction;doesnotaffectthecontroller'sownerrorclearingfunction.
Parameters	InputParameters: void(*fun)()Register A Function To Be Called When The Fault Reset Button Is Pressed On The Teach Pendant
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetRunModeAutoManBegFlag

Function Prototype	intNRC_SetRunModeAutoManBegFlag(boolflag);
Description	Set Auto Power-on when switching to run mode.
Parameters	InputParameters: flag0-Switchingtoautomodewillnotautomaticallypoweron1-Switching To Auto Mode Will Automatically Power On
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetServoModerOfOperation

Function Prototype	intNRC_SetServoModerOfOperation(unsignedcharmoderValue);
Description	Set Servo Operation Mode.
Parameters	InputParameters: moderValueservoautomode:3:SpeedmodePV, 8:CyclicpositionmodeCSP, 9:Cyclicsynchronousspeedmode(CSV), 10:Cyclicsynchronoustorquemode(CST)(CST)
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_Rbt_SetServoModerOfOperation

Function Prototype	intNRC_Rbt_SetServoModerOfOperation(introtbotNum,unsignedcharmoderValue);
Description	Set Servo Operation Mode(multi-robotversion).
Parameters	InputParameters: rotbotNumrobotnumber(1-4) moderValueservoautomode:3:SpeedmodePV, 8:CyclicpositionmodeCSP, 9:Cyclicsynchronousspeedmode(CSV), 10:Cyclicsynchronoustorquemode(CST)(CST)
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_PV_SetTargetVelocity

Function Prototype	intNRC_PV_SetTargetVelocity(introbotNum,unsignedintaxisNum,doublevel);
Description	Call This Interface To Set Run Speed In Pv Mode.
Parameters	InputParameters: robotNumrobotnumber(1-4) axisNumAxisnumber,1tostartingaxisnumber velSetvelocityvalue Unit:r/min
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Only Useful In Pv Mode

NRC_PV_SetTargetAccAndDec

Function Prototype	intNRC_PV_SetTargetAccAndDec(introbotNum,unsignedintaxisNum,doubleacc,doubledec);
Description	Call This Interface To Set Run Acceleration And Deceleration In Pv Mode.
Parameters	InputParameters: robotNumrobotnumber(1-4) axisNumAxisnumber,1tostartingaxisnumber accaccelerationvalue Unit:r/min decdecelerationvalue Unit:r/min
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Only Useful In Pv Mode

NRC_GetIOConfig

Function Prototype	intNRC_GetIOConfig(intioNum,intioType);
Description	Call This Interface To Returns The Number Of IO Ports For A Specific IO Board.
Parameters	InputParameters: ioNumIOboardnumber, To Query The Connected IO Board, pass the corresponding IO board number, range[1-4] ioTypeIOporttypeDIN=0, DOUT=1, AIN=2, AOUT=3
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	Example:Currently3IOboardsareconnected,ToquerythenumberofDINportsonthisIOboard:​ ​NRC_GetIOConfig(3,0);//rangecannotexceed3

NRC_GetIOBoardSum

Function Prototype	intNRC_GetIOBoardSum();
Description	Call This Interface To Returns The IO Board Count.
Parameters	InputParameters: syncangularmotionvelocityarray, maximumlengthto12
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetTargetPosition

Function Prototype	intNRC_SetTargetPosition(double*targetPosition);
Description	Call This Interface To Set Robot Target Position.
Parameters	InputParameters: targetPositionInputarrayofjointanglepositions
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetTargetTorque

Function Prototype	intNRC_SetTargetTorque(signedshort*targetTorq);
Description	Set Robot Target Torque.
Parameters	InputParameters: targetTorqInputarrayoftargettorqueforeachjoint
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetMaxTorque

Function Prototype	intNRC_SetMaxTorque(intaxis,signedshorttorque);
Description	Set Robot Axis Maximum Torque.
Parameters	InputParameters: axisAxisnumber torqueAxismaximumtorqueReference:3000
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetMaxTorque

Function Prototype	intNRC_GetMaxTorque(intaxis,signedshort&torque);
Description	Get Robot Axis Maximum Torque.
Parameters	InputParameters: axisAxisnumber OutputParameters: torqueAxismaximumtorquestoragevariable
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_Rbt_SetMaxTorque

Function Prototype	intNRC_Rbt_SetMaxTorque(introbotNum,intaxis,signedshorttorque);
Description	Get Robot Axis Maximum Torque(multi-robotversion).
Parameters	InputParameters: robotNumPass robot number(1-4) axisAxisnumber OutputParameters: torqueAxismaximumtorquestoragevariable
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetActualTorque

Function Prototype	intNRC_GetActualTorque(introbotNum,intaxis,signedshort&torque);
Description	Get Robot Axis Actual Torque.
Parameters	InputParameters: robotNumPass robot number(1-4) axisAxisnumber OutputParameters: torqueaxisactualtorquestoragevariable
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetActualCurrent

Function Prototype	intNRC_GetActualCurrent(introbotNum,intaxis,signedshort&current);
Description	Get Actual Current.
Parameters	InputParameters: robotNumPass robot number(1-4) axisAxisnumber OutputParameters: Currentstoragevariable
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetMaxCurrent

Function Prototype	intNRC_GetMaxCurrent(introbotNum,intaxis,signedshort&current);
Description	Get Maximum Current.
Parameters	InputParameters: robotNumPass robot number(1-4) axisAxisnumber OutputParameters: currentMaximumcurrentstoragevariable
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetOverTolerance

Function Prototype	intNRC_SetOverTolerance(intaxis,unsignedinttolerance);
Description	Set Robot Axis Over-tolerance.
Parameters	InputParameters: axisAxisnumber toleranceRobotaxismaximumover-tolerance
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_Rbt_SetOverTolerance

Function Prototype	intNRC_Rbt_SetOverTolerance(introbotNum,intaxis,unsignedinttolerance);
Description	Set Robot Axis Over-tolerance(multi-robotversion).
Parameters	InputParameters: robotNumPass robot number(1-4) axisAxisnumber toleranceRobotaxismaximumover-tolerance
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetTolerance

Function Prototype	intNRC_GetTolerance(intaxis,unsignedint&tolerance);
Description	Get Robot Axis Over-tolerance.
Parameters	InputParameters: axisAxisnumber OutputParameters: toleranceAxisover-tolerance storage variable
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_Rbt_GetTolerance

Function Prototype	intNRC_Rbt_GetTolerance(introbotNum,intaxis,unsignedint&tolerance);
Description	Get Robot Axis Over-tolerance(multi-robotversion).
Parameters	InputParameters: robotNumPass robot number(1-4) axisAxisnumber OutputParameters: toleranceAxisover-tolerancestoragevariable
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_ShieldFollowError

Function Prototype	intNRC_ShieldFollowError(intaxis,boolshield);
Description	Disable Robot Axis Following Error.
Parameters	InputParameters: axisAxisnumber shielddisable
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_robotRunCycle_Callback

Function Prototype	intNRC_robotRunCycle_Callback(void(*fun)());
Description	Set A Custom Parameter Less Function, Call This Interface To To Be Called Back Once Peret Her Cat Communication Cycle(default1ms).
Parameters	InputParameters: void(*fun)()Register A Function With No Return Value And No Parameters, This Function Is Called Once Peret Her Cat Communication Cycle.
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	The Callback Function Must Not Contain Anytime-consuming operations

NRC_GetServoMode

Function Prototype	intNRC_GetServoMode(int*servoMode);
Description	Gets Servo Operation Mode.
Parameters	OutputParameters: servoModereturnedasanarrayofeachservoautomode:
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	servo mode:returnedasanarrayofeachservoautomode: *0-Modeunchanged; *1-Profilepositionmode(PP); *2-Speedmode(VL); *3-Profilespeedmode(PV); *4-Profiletorquemode(PT)(PT); *5-Reserved; *6-Homingmode(HM)(HM); *7-Interpolated position mode(IP),not yet supported; *8-Cyclicsynchronouspositionmode(CSP); *9-Cyclicsynchronousspeedmode(CSV); *10-Cyclicsynchronoustorquemode(CST)(CST).

NRC_SetTargetVelocity

Function Prototype	intNRC_SetTargetVelocity(int*axisVel);
Description	Set Target Velocity Value.
Parameters	InputParameters: axisVelPassadoublearraytosetthevelocityvalue(Note:Thearraysizemustmatchthecurrentnumberofrobotaxes.)
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetJogMoveCalculateNum

Function Prototype	intNRC_SetJogMoveCalculateNum(intnum);
Description	Set Jog Interpolation Point Count.
Parameters	InputParameters: numNumberofpoints
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetPlanningPosition

Function Prototype	intNRC_GetPlanningPosition(intaxisSum,double*axisPosition);
Description	Get The First Point In The Planning Queue.
Parameters	InputParameters: axisSumtotalnumberofrobotaxes OutputParameters: axisPositionReturnstheresultofgettingthepoints,array dimension is axisSum
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetRobotSum

Function Prototype	intNRC_GetRobotSum(int&robotSum);
Description	Get Robot Count.
Parameters	OutputParameters: robotSumPassanintvariabletoreceivethecurrentrobotcountbyreference;
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_ShieldedTeachingPendant

Function Prototype	intNRC_ShieldedTeachingPendant(boolstatus);
Description	Call This Interface To Disables Teach Pendant Connection Detection(mustbecalledbeforethesystemstartupfunction.).
Parameters	InputParameters: statusThestatustopasstrue:Disablecommunicationwiththeteachpendant false:Enablecommunicationwiththeteachpendant
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetControlCycle

Function Prototype	intNRC_GetControlCycle();
Description	Get The Communication Cycle Between Controller And Servo.
Parameters	None
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_EncoderZeroOffsetvalueSync

Function Prototype	intNRC_EncoderZeroOffsetvalueSync(intupdateAxis,doubleoffset);
Description	Set External Axis Zero Offset.
Parameters	InputParameters: updateAxisTheexternalAxisnumberrequiringoffset, range[1, 5] offsetOffsetvalue
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetEncoderPosition

Function Prototype	intNRC_GetEncoderPosition(intslaveNum);
Description	Get Encoder Position.
Parameters	InputParameters: slaveNumAxisnumber
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetCustomFileTransfer

Function Prototype	voidNRC_SetCustomFileTransfer(constNRC_FileParam&fileParamVector);
Description	Set Custom Configuration Files That CAN Be Imported/exported.
Parameters	InputParameters: fileParamVectorConfigurationfileparameters
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	fileParamVectorExample:"global.json", "config/global.json", "1.0.0"

NRC_SetRobotMode

Function Prototype	intNRC_SetRobotMode(intmode);
Description	Set Robot To Multi-robot mode.
Parameters	InputParameters: mode0-Standalonemode1-Multi-robot mode
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_TcpCalculate

Function Prototype	intNRC_TcpCalculate(introbotNum,NRC_Positionpos,constNRC_Position&deviation,NRC_COORDcoord,NRC_Position&resultPos);
Description	Calculate The Position After A Fixed-distance offset in a specific coordinate system.
Parameters	InputParameters: robotNumRobotnumber1-4 posThepointtooffset coordCoordinatesystem OutputParameters: deviationoffset distance resultPoscalculation result stored as points
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetStatusWord

Function Prototype	intNRC_GetStatusWord(introbotNum,intaxis,signedshort&value);
Description	Read Servo Status Word.
Parameters	InputParameters: robotNumPass robot number(1-4) axisAxisnumber OutputParameters: valueStatusvaluestoragevariable
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetCommunicationParam

Function Prototype	intNRC_SetCommunicationParam(conststd::string&ip,intport,introbot,intcraft,inttype,intnumberSystem,conststd::string&frameHeader,conststd::string&separator,conststd::string&terminator);
Description	Call This Interface To Set External TCP Communication Parameters.
Parameters	InputParameters: ipIPaddress,ThetargetIPforthespecifiedexternalcommunication portPortnumber,the target port for the specified external communication robotRobotnumber1-4 craftProcessnumber1-9 type0 Server, 1 Client numberSystem0decimal1hexadecimal frameHeaderFrame header, used to identify the start of communication data separatorSeparator, used to separate different parts of communication data terminatorTerminator, used to identify the end of communication data
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetCommunicationStatus

Function Prototype	intNRC_SetCommunicationStatus(boolstatus,intcraft,introbot);
Description	Set TCP Communication On/off.
Parameters	InputParameters: statustruetoenablefalsetodisable craftProcessnumber1-9 robotRobotnumber1-4
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_SetTcpMessageCallback

Function Prototype	intNRC_SetTcpMessageCallback(void(*callback)(conststd::string&message));
Description	Set Callback Function For Receiving Messages Via External TCP Communication.
Parameters	InputParameters: callbackCallbackfunctionpointer Thereceivedmessagedata
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_CommSendMessage

Function Prototype	intNRC_CommSendMessage(conststd::string&message,intcraft,introbot);
Description	Call This Interface To Send A Message To The Controller.
Parameters	InputParameters: messageThedatatosend craftProcessnumber1-9 robotRobotnumber1-4
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetModbusSlaveConnectStatus

Function Prototype	intNRC_GetModbusSlaveConnectStatus(bool&status);
Description	Get Mod Bus Slave Connection Status.
Parameters	OutputParameters: statusTheretrievedconnectionstatus
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None

NRC_GetModbusMasterConnectStatus

Function Prototype	intNRC_GetModbusMasterConnectStatus(intcraft,bool&status);
Description	Get Mod Bus Master Connection Status.
Parameters	InputParameters: craftProcessnumber OutputParameters: statusTheretrievedconnectionstatus
Return Value	0:Functioncallsucceeded -101:Invalidinputparameter -102:Targetobjectdoesnotexist, typicallyreturnedwhensysteminitializationisincomplete -103:Targetobjectiscurrentlyinaninoperablestate
Remarks	None