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

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

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 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.