.. _set_velx_rt:

set_velx_rt
------------------------------------------
This function sets the **global task-space velocity limit** used in  
**real-time servo motion control**.  
It defines both the **linear** and **rotational** velocity bounds applied to task-level commands such as  
:ref:`servol_rt <servol_rt>` or :ref:`speedl_rt <speedl_rt>`.

**Definition** |br|
``DRFLEx.h`` within class `CDRFLEx`, public section (line 594)

.. code-block:: cpp

   bool set_velx_rt(float fTransVel, float fRotationVel = -10000) {
       return _set_velx_rt(_rbtCtrlUDP, fTransVel, fRotationVel);
   };

**Parameter**

.. list-table::
   :widths: 25 20 20 35
   :header-rows: 1

   * - **Parameter Name**
     - **Data Type**
     - **Default Value**
     - **Description**
   * - fTransVel
     - float
     - -
     - Task linear velocity limit [mm/s].
   * - fRotationVel
     - float
     - -10000
     - Task rotational velocity limit [deg/s]. |br|
       If set to **-10000**, it is automatically calculated based on the linear velocity limit.

**Note**

- If the **servo motion velocity** exceeds the global task-space limit,  
  an **Info message** is generated by the controller.  
- The system continues motion, but logs this event for diagnostic purposes.  
- The default rotational velocity (if unspecified) is derived from the translational velocity  
  to maintain proportional motion scaling.

**Return**

.. list-table::
   :widths: 20 80
   :header-rows: 1

   * - **Value**
     - **Description**
   * - 1
     - Success — task velocity limits successfully applied.
   * - 0
     - Error — invalid parameters or communication issue.

**Example**

.. code-block:: cpp

   #include "DRFLEx.h"
   #include <iostream>
   using namespace DRAFramework;

   int main() {
       CDRFLEx drfl;
       drfl.connect_rt_control("192.168.137.100", 12347);

       // Define task-space velocity limits
       float fTransVel = 100.0f;     // Linear velocity [mm/s]
       float fRotationVel = 60.0f;   // Rotational velocity [deg/s]

       // Apply task-space velocity limits for real-time servo motion
       if (drfl.set_velx_rt(fTransVel, fRotationVel))
           std::cout << "Global task velocity limits set successfully." << std::endl;
       else
           std::cout << "Failed to set task velocity limits." << std::endl;

       drfl.disconnect_rt_control();
       return 0;
   }

This example defines a **maximum task-space velocity**  
of 100 mm/s for translation and 60 deg/s for rotation  
to ensure stable and safe real-time motion execution.

**Tips**

- Recommended for use with **speedl_rt** or **servol_rt** functions.  
- If only translational motion is required, set ``fRotationVel = -10000`` to auto-scale it.  
- Adjust limits based on application safety requirements or workspace constraints.