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For information on the latest version, please have a look at GL013301.

servoj_g (Auto Mode)

This function sends an asynchronous joint-space motion command for continuous trajectory execution using blended velocity and acceleration profiles. It updates the target joint position in real time and smoothly transitions to the next motion command.

Also, this API operates only in Auto (Run) mode. It is not available in Manual (Teach) mode.

Definition
DRFLEx.h within class CDRFLEx, public section (line 818)

bool servoj_g(float fTargetPos[NUM_JOINT],
              float fTargetVel[NUM_JOINT],
              float fTargetAcc[NUM_JOINT],
              float fTargetTime = 0.f)
{
    return _servoj_g(_rbtCtrl, fTargetPos, fTargetVel, fTargetAcc, fTargetTime);
}

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[6]		Target joint position for six axes.
fTargetVel	float[6]		Joint velocity limit for each axis.
fTargetAcc	float[6]		Joint acceleration limit for each axis.
fTargetTime	float	0.0f	Target transition time [sec]. Automatically adjusted if infeasible.

Return

Value	Description
0	Failed
1	Success

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;
    // Preconditions: Connected, servo ON, Auto mode active

    float q[6] = {0.f, -30.f, 90.f, 0.f, 60.f, 0.f};
    float qvel[6] = {10.f, 10.f, 10.f, 10.f, 10.f, 10.f};
    float qacc[6] = {20.f, 20.f, 20.f, 20.f, 20.f, 20.f};

    drfl.servoj_g(q, qvel, qacc, 0.3f);

    return 0;
}

Note

• servoj_g performs joint interpolation with blending for smooth transitions.

• If fTargetTime exceeds hardware limits, it is automatically adjusted.

• servoj_g is ideal for real-time control and streaming-based trajectory updates.

• It is not linked with force/stiffness control or change_operation_speed().

• Recommended for use in dynamic path control, adaptive motion, or trajectory replay applications.