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

set_velj_rt

This function sets the global joint speed limit used during real-time servo motion control. It defines the maximum allowable joint velocity for all servo motion commands executed via the real-time control interface.

Definition
DRFLEx.h within class CDRFLEx, public section (line 592)

bool set_velj_rt(float vel[NUM_JOINT]) {
    return _set_velj_rt(_rbtCtrlUDP, vel);
};

Parameter

Parameter Name	Data Type	Default Value	Description
vel	float[6]		Global joint velocity limit [deg/s] applied during real-time control.

Note

• If the joint velocity commanded by a servo motion function
  (e.g., servoj_rt or speedj_rt)
  exceeds the defined global limit, an Info message is generated.

• This function does not stop motion automatically; it only logs or warns about the exceedance.

• The limit is maintained until explicitly changed or the real-time control session is terminated.

Return

Value	Description
1	Success — velocity limit successfully applied.
0	Error — invalid parameter or 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 global joint velocity limits [deg/s]
    float vel[6] = {100.f, 100.f, 100.f, 100.f, 100.f, 100.f};

    // Apply velocity limits for real-time servo motion
    if (drfl.set_velj_rt(vel))
        std::cout << "Global joint velocity limit set successfully." << std::endl;
    else
        std::cout << "Failed to set velocity limit." << std::endl;

    drfl.disconnect_rt_control();
    return 0;
}

This example sets a uniform joint velocity limit of 100 deg/s to restrict motion speed during real-time servo operations.

Tips

• Use this function before starting RT motion (e.g., before calling servoj_rt).

• It helps prevent excessive joint velocity in unstable communication or high-frequency control.

• The same configuration can be re-applied dynamically without restarting RT mode.