get_current_velj (Manual Mode)

This section explains how to use get_current_velj during Manual (Teach) operations. Although defined in 3.1 Common, it is essential for checking joint-wise velocity feedback while performing manual or jog-based movements.

Typical usage

• Display or log joint velocities (J1–J6) during jog or blended motion.

• Verify velocity compliance with safety limits or joint monitoring tools.

• Detect excessive speed or mechanical resistance during manual teaching.

Note

• Useful for diagnosing joint motion balance and tuning jog speeds.

Example: Display Joint Velocities while Jogging

#include "DRFLEx.h"
#include <thread>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;
    // Assume connection, Manual mode, and servo ON are set.

    // Jog +J3 direction briefly
    drfl.jog(JOG_AXIS_JOINT_3, MOVE_REFERENCE_JOINT, 15.0f);
    std::this_thread::sleep_for(std::chrono::milliseconds(400));

    // Read current joint velocities
    LPROBOT_VELJ pVelJ = drfl.get_current_velj();

    printf("[Current Joint Velocities]\n");
    for (int i = 0; i < NUMBER_OF_JOINT; ++i)
        printf("J%d: %.2f deg/s\n", i + 1, pVelJ->_fTargetVel[i]);

    // Stop and ensure robot is stationary
    drfl.stop(STOP_TYPE_SLOW);
    drfl.mwait();

    return 0;
}

Tips

• get_current_velj() helps confirm joint velocity uniformity during manual jog sequences.

• Useful for detecting lag or delay on specific joints during fine-tuning.

• Combine with get_current_posj for motion analysis in teaching mode.