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

// 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();

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.