.. _set_accj_rt:

set_accj_rt
------------------------------------------
This function sets the **global joint acceleration limit** used during  
**real-time servo motion control**. |br|
It defines the maximum allowable acceleration for all joints when executing  
real-time motion commands such as :ref:`servoj_rt <servoj_rt>` or :ref:`speedj_rt <speedj_rt>`.

**Definition** |br|
``DRFLEx.h`` within class `CDRFLEx`, public section (line 593)

.. code-block:: cpp

   bool set_accj_rt(float acc[NUM_JOINT]) {
       return _set_accj_rt(_rbtCtrlUDP, acc);
   };

**Parameter**

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

   * - **Parameter Name**
     - **Data Type**
     - **Default Value**
     - **Description**
   * - acc
     - float[6]
     - -
     - Global joint acceleration limit [deg/s²] used for all real-time servo motion commands.

**Note**

- If the **commanded acceleration** during motion exceeds the global limit, |br|  
  an **Info message** is generated by the controller.  
- This does **not stop motion automatically**, but logs a warning for diagnostics.  
- The defined acceleration limit remains active until it is reset
  or the real-time control session ends.

**Return**

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

   * - **Value**
     - **Description**
   * - 1
     - Success — global acceleration limit successfully applied.
   * - 0
     - Error — invalid input or communication failure.

**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 global joint acceleration limits [deg/s²]
       float acc[6] = {100.f, 100.f, 100.f, 100.f, 100.f, 100.f};

       // Apply the global acceleration limits for real-time servo motion
       if (drfl.set_accj_rt(acc))
           std::cout << "Global joint acceleration limit set successfully." << std::endl;
       else
           std::cout << "Failed to set acceleration limit." << std::endl;

       drfl.disconnect_rt_control();
       return 0;
   }

This example applies a **uniform acceleration limit of 100 deg/s²**  
to restrict motion profiles during real-time servo control.

**Tips**

- Always set both :ref:`set_velj_rt <set_velj_rt>` and set_accj_rt  
  before starting a new real-time control session to ensure safe joint behavior.  
- These limits help prevent high-frequency torque spikes and improve control stability  
  during real-time motion streaming.