set_velj_rt

This function sets the global joint speed limit used during real-time servo motion control. It defines the maximum allowable joint velocity for all servo motion commands executed via the real-time control interface.

Definition
DRFLEx.h within class CDRFLEx, public section (line 592)

bool set_velj_rt(float vel[NUM_JOINT]) {
    return _set_velj_rt(_rbtCtrlUDP, vel);
};

Parameter

Parameter Name

Data Type

Default Value

Description

vel

float[6]

Global joint velocity limit [deg/s] applied during real-time control.

Note

  • If the joint velocity commanded by a servo motion function
    (e.g., servoj_rt or speedj_rt)
    exceeds the defined global limit, an Info message is generated.

  • This function does not stop motion automatically; it only logs or warns about the exceedance.

  • The limit is maintained until explicitly changed or the real-time control session is terminated.

Return

Value

Description

1

Success — velocity limit successfully applied.

0

Error — invalid parameter or communication failure.

Example

drfl.connect_rt_control("192.168.137.100", 12347);

// Define global joint velocity limits [deg/s]
float vel[6] = {100.f, 100.f, 100.f, 100.f, 100.f, 100.f};

// Apply velocity limits for real-time servo motion
if (drfl.set_velj_rt(vel))
    printf("Global joint velocity limit set successfully.\n");
else
    printf("Failed to set velocity limit.\n");

drfl.disconnect_rt_control();

This example sets a uniform joint velocity limit of 100 deg/s to restrict motion speed during real-time servo operations.

Tips

  • Use this function before starting RT motion (e.g., before calling servoj_rt).

  • It helps prevent excessive joint velocity in unstable communication or high-frequency control.

  • The same configuration can be re-applied dynamically without restarting RT mode.