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

set_accx_rt

This function sets the global task-space acceleration limit for real-time servo motion control. It defines both linear and rotational acceleration limits applied to task-level commands such as servol_rt or speedl_rt.

Definition
DRFLEx.h within class CDRFLEx, public section (line 595)

bool set_accx_rt(float fTransAcc, float fRotationAcc = -10000) {
    return _set_accx_rt(_rbtCtrlUDP, fTransAcc, fRotationAcc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
fTransAcc	float		Task linear acceleration limit [mm/s²].
fRotationAcc	float	-10000	Task rotational acceleration limit [deg/s²]. If set to -10000, it is automatically calculated based on the task linear acceleration limit.

Note

• If the servo motion acceleration exceeds the defined global task-space limit, an Info message is generated for diagnostic purposes.

• This does not interrupt motion automatically, but warns the operator to prevent instability during real-time streaming.

• The rotational acceleration is automatically scaled if not explicitly defined.

Return

Value	Description
1	Success — acceleration limits successfully applied.
0	Error — invalid input parameter or UDP communication failure.

Example

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

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

    // Define task-space acceleration limits
    float fTransAcc = 100.0f;      // Linear acceleration [mm/s²]
    float fRotationAcc = 50.0f;    // Rotational acceleration [deg/s²]

    // Apply global acceleration limits for real-time servo control
    if (drfl.set_accx_rt(fTransAcc, fRotationAcc))
        std::cout << "Task-space acceleration limits set successfully." << std::endl;
    else
        std::cout << "Failed to apply task acceleration limits." << std::endl;

    drfl.disconnect_rt_control();
    return 0;
}

This example sets the global task acceleration limit to 100 mm/s² for translation and 50 deg/s² for rotation, ensuring stable motion under real-time control.

Tips

• Use together with set_velx_rt to maintain consistent dynamic behavior in Cartesian control.

• Recommended to define limits before starting real-time servo commands to avoid excessive acceleration or overshoot during motion blending.