speedj (Auto Mode)

It 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 within the maximum speed and acceleration set for the most recent target joint speed among commands transmitted continuously.

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

Definition
DRFLEx.h within class CDRFLEx, public section (line 815)

bool speedj(float fTargetVel[NUM_JOINT],
            float fTargetAcc[NUM_JOINT],
            float fTargetTime)
{
    return _speedj(_rbtCtrl, fTargetVel, fTargetAcc, fTargetTime);
}

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetVel	float[6]		Target joint velocity for six axes [deg/s or rad/s per system setting].
fTargetAcc	float[6]		Joint acceleration [deg/s² or rad/s²].
fTargetTime	float		Command duration [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 joint velocity and acceleration
    float jvel[6] = {10.f, 10.f, 10.f, 10.f, 10.f, 10.f};
    float jacc[6] = {20.f, 20.f, 20.f, 20.f, 20.f, 20.f};

    // Execute velocity control in joint space
    drfl.speedj(jvel, jacc, -10000.f);

    return 0;
}

Note

• If fTargetTime is entered but cannot be maintained due to the maximum speed or acceleration condition, it automatically adjusts and displays a notification message.

• If you want to stop gradually, set fTargetVel = {0,0,0,0,0,0} or call stop().

• For safety, if no new speedj command is received for 0.1 sec during motion, an error message is displayed and motion stops automatically.

• speedj is not linked with the operation speed adjustment function change_operation_speed().

• Recommended for continuous joint velocity control, trajectory following, or real-time motion update loops.