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For information on the latest version, please have a look at 1.33.5.

servol (Auto Mode)

This function is an asynchronous motion command; the next command is executed as soon as the motion starts. It follows the most recent target position among consecutive commands, within the maximum speed and acceleration. Unlike servoj, which operates in joint space, servol performs motion in task (Cartesian) space.

This API works in Auto (Run) mode only. It is not available in Manual (Teach) mode.

Definition
DRFLEx.h within class CDRFLEx, public section

bool servol(float fTargetPos[NUM_TASK],
            float fLimitVel[2],
            float fLimitAcc[2],
            float fTargetTime)
{
    return _servol(_rbtCtrl, fTargetPos, fLimitVel, fLimitAcc, fTargetTime);
}

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[6]		Target TCP position for six axes [X, Y, Z, Rx, Ry, Rz].
fLimitVel	float[2]		Translation and rotation velocity limits.
fLimitAcc	float[2]		Translation and rotation acceleration limits.
fTargetTime	float		Desired motion time [sec]. Automatically adjusted if infeasible. -10000 = not specified; the controller uses its automatic value.

Return

Value	Description
0	Failed
1	Success

Note

Returns false without a message when the robot is in STATE_EMERGENCY_STOP, STATE_SAFE_OFF, STATE_SAFE_OFF2, STATE_SAFE_STOP or STATE_SAFE_STOP2.

A return of true does not confirm that the controller applied the request. Confirm the motion with get_current_posj, get_current_posx or the monitoring data callback.

Example

// Preconditions: Connected, servo ON, Auto mode active

// Define Cartesian target pose
float q0[6]   = {368.f, 34.5f, 442.f, 50.f, -180.f, 50.f};
float jvel[2] = {10.f, 10.f};
float jacc[2] = {20.f, 20.f};

// Execute Cartesian motion
drfl.servol(q0, jvel, jacc, -10000.f);

Note

• If fTargetTime is specified but cannot be maintained due to speed or acceleration limits, the controller automatically adjusts the motion time and displays a notification message.

• servol is not linked with the speed adjustment function change_operation_speed.

• When DR_VAR_VEL (variable velocity) mode is used among singularity options, it is automatically converted to DR_AVOID mode and a warning message is shown.

• servol is not linked with force/stiffness control commands.

• Used for smooth Cartesian interpolation and real-time target updates in automatic operation.