speedl_rt

This function performs real-time task-space (TCP) velocity control from an external controller.
It commands the robot’s end-effector velocity and acceleration in Cartesian space and is typically used for smooth linear streaming control.

Definition
DRFLEx.h within class CDRFLEx, public section (line 603)

bool speedl_rt(float fTargetVel[NUM_TASK],
               float fTargetAcc[NUM_TASK],
               float fTargetTime) {
    return _speedl_rt(_rbtCtrlUDP, fTargetVel, fTargetAcc, fTargetTime);
};

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetVel	float[6]		Target TCP velocity [mm/s, deg/s].
fTargetAcc	float[6]		Target TCP acceleration [mm/s², deg/s²]. If set to -10000, acceleration is automatically computed from the target velocity.
fTargetTime	float		Target interpolation duration [s].

Note

• Asynchronous command.

• The internal motion profile interpolates to reach (fTargetVel, fTargetAcc) over fTargetTime.

• If fTargetTime ≤ controller’s cycle (~1 ms), control is performed directly without interpolation.

• If the next command is not received before fTargetTime expires, the previous velocity is maintained.

• If no new command is received for 0.1 s, a timeout error is raised and motion stops.

• When exceeding the global acceleration limit, the robot halts and an Info message is generated.

Caution

• In the current version, this function is not linked with Operation Speed [%].

• Not compatible with force/compliance control mode.

• Not compatible with DR_VAR_VEL option near singularities;
  automatically switches to DR_AVOID behavior when detected.

• For consistent motion, send commands at 1 ms intervals and
  ensure fTargetTime is slightly larger than the communication cycle.

Return

Value	Description
1	Success — real-time task velocity command executed.
0	Error — invalid input or RT communication failure.

Example

// Connect and configure RT streaming
drfl.connect_rt_control("192.168.137.100", 12347);

std::string version = "v1.0";
float period = 0.001f; // 1 ms cycle
int lossCount = 4;

drfl.set_rt_control_input(version, period, lossCount);
drfl.set_rt_control_output(version, period, lossCount);
drfl.start_rt_control();

// Define velocity and acceleration targets
float fTargetVel[6] = {150.0f, 0.0f, 100.0f, 0.0f, 0.0f, 0.0f};
float fTargetAcc[6] = {800.0f, 800.0f, 800.0f, 100.0f, 100.0f, 100.0f};
float fTargetTime = 0.06f; // 60 ms

// Send real-time TCP velocity command
if (drfl.speedl_rt(fTargetVel, fTargetAcc, fTargetTime))
    printf("TCP velocity command successful.\n");
else
    printf("TCP velocity command failed.\n");

drfl.stop_rt_control();
drfl.disconnect_rt_control();

This example demonstrates continuous task-space velocity control where the TCP moves in a straight-line direction with real-time updates.

Tips

• Use speedl_rt for Cartesian velocity streaming with low latency.

• Combine with feedback from read_data_rt to implement closed-loop control.

• For position-based real-time control, use servol_rt.