set_accj_rt

This function sets the global joint acceleration limit used during real-time servo motion control.
It defines the maximum allowable acceleration for all joints when executing real-time motion commands such as servoj_rt or speedj_rt.

Definition
DRFLEx.h within class CDRFLEx, public section (line 593)

bool set_accj_rt(float acc[NUM_JOINT]) {
    return _set_accj_rt(_rbtCtrlUDP, acc);
};

Parameter

Parameter Name

Data Type

Default Value

Description

acc

float[6]

Global joint acceleration limit [deg/s²] used for all real-time servo motion commands.

Note

  • If the commanded acceleration during motion exceeds the global limit,
    an Info message is generated by the controller.

  • This does not stop motion automatically, but logs a warning for diagnostics.

  • The defined acceleration limit remains active until it is reset or the real-time control session ends.

Return

Value

Description

1

Success — global acceleration limit successfully applied.

0

Error — invalid input or communication failure.

Example

drfl.connect_rt_control("192.168.137.100", 12347);

// Define global joint acceleration limits [deg/s²]
float acc[6] = {100.f, 100.f, 100.f, 100.f, 100.f, 100.f};

// Apply the global acceleration limits for real-time servo motion
if (drfl.set_accj_rt(acc))
    printf("Global joint acceleration limit set successfully.\n");
else
    printf("Failed to set acceleration limit.\n");

drfl.disconnect_rt_control();

This example applies a uniform acceleration limit of 100 deg/s² to restrict motion profiles during real-time servo control.

Tips

  • Always set both set_velj_rt and set_accj_rt before starting a new real-time control session to ensure safe joint behavior.

  • These limits help prevent high-frequency torque spikes and improve control stability during real-time motion streaming.