servol (Auto Mode)

This function is an asynchronous type motion command and executes the next command at the same time as the motion starts. It is a motion that follows the most recent target position among consecutive commands within the maximum speed and acceleration. Unlike servoj, which operates in joint space, servol performs motion in task (Cartesian) space.

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

Definition
DRFLEx.h within class CDRFLEx, public section (line 813)

bool servol(float fTargetPos[NUM_TASK],
            float fLimitVel[2],
            float fLimitAcc[2],
            float fTargetTime)
{
    return _servol(_rbtCtrl, fTargetPos, fLimitVel, fLimitAcc, fTargetTime);
}

Parameter

Parameter Name	Data Type	Description
fTargetPos	float[6]	Target TCP position for six axes [X, Y, Z, Rx, Ry, Rz].
fLimitVel	float[2]	Translation and rotation velocity limits.
fLimitAcc	float[2]	Translation and rotation acceleration limits.
fTargetTime	float	Desired motion time [sec]. Automatically adjusted if infeasible.

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

    // Define Cartesian target pose
    float q0[6]   = {368.f, 34.5f, 442.f, 50.f, -180.f, 50.f};
    float jvel[2] = {10.f, 10.f};
    float jacc[2] = {20.f, 20.f};

    // Execute Cartesian motion
    drfl.servol(q0, jvel, jacc, -10000.f);

    return 0;
}

Note

If fTargetTime is entered but cannot be maintained due to speed or acceleration limits, the controller automatically adjusts the motion time and displays a notification message.
servol is not linked with the speed adjustment function change_operation_speed.
When DR_VAR_VEL (variable velocity) mode is used among singularity options, it is automatically converted to DR_AVOID mode and a warning message is shown.
servol is not linked with force/stiffness control commands.
Used for smooth Cartesian interpolation and real-time target updates in automatic operation.