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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 servol_rt or speedl_rt.

Definition
DRFLEx.h within class CDRFLEx, public section (line 594)

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

Parameter

Parameter Name	Data Type	Default Value	Description
fTransVel	float		Task linear velocity limit [mm/s].
fRotationVel	float	-10000	Task rotational velocity limit [deg/s]. 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

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

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 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.