servoj (Auto Mode)

The command is the asynchronous motion command, and the next command is executed at the same time the motion begins. When the mode is set to Override mode, it follows the most recent target joint position in a motion within the maximum speed and acceleration among the continuously delivered commands. When the mode is set to Queue mode, it can store up to 100 previous commands and sequentially follow the path. When 100 waypoints have been stored in Queue mode, the command will not return until reaching the next waypoint. If an Override command is input during Queue mode, it ignores the previously stored waypoints and follows the most recent target joint position.

Also, this API works in Auto (Run) mode only. It does not operate in Manual (Teach) mode.

Definition
DRFLEx.h within class CDRFLEx, public section (line 812)

bool servoj(float fTargetPos[NUM_JOINT],
            float fLimitVel[NUM_JOINT],
            float fLimitAcc[NUM_JOINT],
            float fTargetTime = 0.f,
            DR_SERVOJ_TYPE eTargetMod = DR_SERVO_QUEUE)
{
    return _servoj(_rbtCtrl, fTargetPos, fLimitVel, fLimitAcc, fTargetTime, eTargetMod);
}

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[6]		Target joint position for six axes [deg or rad per system setting].
fLimitVel	float[6]		Per-axis velocity limit applied to this command.
fLimitAcc	float[6]		Per-axis acceleration limit applied to this command.
fTargetTime	float	0	Desired motion time [sec] for the segment (see Notes).
eTargetMod	DR_SERVOJ_TYPE	DR_SERVO_QUEUE	Waypoint execution mode: DR_SERVO_OVERRIDE: Follow the most recent command (override previous). DR_SERVO_QUEUE: Queue waypoints (keep and execute in order).

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

    // Target joint pose and limits
    float q[6]    = { 0.f, 0.f, 90.f, 0.f, 0.f, 0.f };
    float jvel[6] = { 10.f, 10.f, 10.f, 10.f, 10.f, 10.f };
    float jacc[6] = { 10.f, 10.f, 10.f, 10.f, 10.f, 10.f };

    // Override: keep following the most recent target
    drfl.servoj(q, jvel, jacc, 0.02f, DR_SERVO_OVERRIDE);

    // Queue example (buffer waypoints)
    // drfl.servoj(q, jvel, jacc, 0.02f, DR_SERVO_QUEUE);

    return 0;
}

Note

• If fTargetTime cannot be satisfied due to max velocity/acceleration limits, the controller automatically adjusts the timing and may display a notification.

• Not linked to the operation speed adjustment of change_operation_speed (no coupling with that setting).

• Up to 100 waypoints can be stored in Queue mode; an Override call during Queue mode clears the buffered path and follows the latest command.