set_accx_rt

This function sets the global task-space acceleration limit for real-time servo motion control. It defines both linear and rotational acceleration limits applied to task-level commands such as servol_rt or speedl_rt.

Definition
DRFLEx.h within class CDRFLEx, public section

bool set_accx_rt(float fTransAcc, float fRotationAcc = -10000) {
    return _set_accx_rt(_rbtCtrlUDP, fTransAcc, fRotationAcc);
};

Parameter

Parameter Name

Data Type

Default Value

Description

fTransAcc

float

Task linear acceleration limit [mm/s²].

fRotationAcc

float

-10000

Task rotational acceleration limit [deg/s²].
If set to -10000, it is automatically calculated based on the task linear acceleration limit.

Note

  • If the servo motion acceleration exceeds the defined global task-space limit, an Info message is generated for diagnostic purposes.

  • This does not interrupt motion automatically, but warns the operator to prevent instability during real-time streaming.

  • The rotational acceleration is automatically scaled if not explicitly defined.

Return

Value

Description

1

The command datagram was sent.

0

The command datagram could not be sent.

Note

This function is asynchronous. It returns as soon as the datagram is sent and does not wait for the controller to accept or reject the command, so a return value of 1 does not confirm that the robot acted on it. Rejected commands and motion faults are reported through set_on_rt_log_alarm.

Example

drfl.connect_rt_control("192.168.137.100", 12347);

// Define task-space acceleration limits
float fTransAcc = 100.0f;      // Linear acceleration [mm/s²]
float fRotationAcc = 50.0f;    // Rotational acceleration [deg/s²]

// Apply global acceleration limits for real-time servo control
if (drfl.set_accx_rt(fTransAcc, fRotationAcc))
    printf("Task-space acceleration limits set successfully.\n");
else
    printf("Failed to apply task acceleration limits.\n");

drfl.disconnect_rt_control();

This example sets the global task acceleration limit to 100 mm/s² for translation and 50 deg/s² for rotation, ensuring stable motion under real-time control.

Tips

  • Use together with set_velx_rt to maintain consistent dynamic behavior in Cartesian control.

  • Recommended to define limits before starting real-time servo commands to avoid excessive acceleration or overshoot during motion blending.