.. _speedl:

speedl (Auto Mode)
------------------------------------------
It is an **asynchronous motion command**; the next command is executed as soon as the motion starts.  
This function performs **Cartesian velocity control**, following the most recent target TCP (Tool Center Point) velocity  
within the maximum speed and acceleration constraints of consecutive commands.

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

**Definition** |br|
``DRFLEx.h`` within class ``CDRFLEx``, public section

.. code-block:: cpp

   bool speedl(float fTargetVel[NUM_TASK],
               float fTargetAcc[2],
               float fTargetTime)
   {
       return _speedl(_rbtCtrl, fTargetVel, fTargetAcc, fTargetTime);
   }

**Parameter**

.. list-table::
   :widths: 25 20 20 35
   :header-rows: 1

   * - **Parameter Name**
     - **Data Type**
     - **Default Value**
     - **Description**
   * - fTargetVel
     - float[6]
     - -
     - Target TCP velocity for six Cartesian axes [X, Y, Z, Rx, Ry, Rz].
   * - fTargetAcc
     - float[2]
     - -
     - Translational and rotational acceleration [mm/s², deg/s²].
   * - fTargetTime
     - float
     - -
     - Command duration [sec]. Automatically adjusted if infeasible. -10000 = not specified; the controller uses its automatic value.

**Return**

.. list-table::
   :widths: 15 85
   :header-rows: 1

   * - **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**

.. code-block:: cpp

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

   // Define linear velocity and acceleration in Cartesian space
   float jvel[6] = {10.f, 10.f, 10.f, 10.f, 10.f, 10.f};
   float jacc[2] = {20.f, 20.f};

   // Execute TCP velocity control
   drfl.speedl(jvel, jacc, -10000.f);
.. Note::

  - If ``fTargetTime`` is specified but cannot be maintained due to the maximum speed or acceleration condition, it is adjusted automatically and a notification message is displayed.  
  - On DRCF v3.0 to v3.3, if no new command arrives within 0.1 s, the motion stops with an alarm. On DRCF v3.4 or later and on v2.12.x, the arm keeps the last target velocity until ``stop()`` or a zero-velocity command.
  - ``speedl`` is **not linked** with the ``change_operation_speed()`` function.  
  - It is also **not linked** with ``force/stiffness control`` commands.  
  - Recommended for **smooth Cartesian velocity control**, **real-time motion streaming**, or **external controller synchronization**.