servoj (Auto Mode)

This is an asynchronous motion command; the next command is executed as soon as the motion begins. In Override mode, it follows the most recent target joint position among the continuously delivered commands, within the maximum speed and acceleration. In Queue mode, it stores the commands and follows them in order. The call returns as soon as the command is sent, without waiting for the queued waypoints. If an Override command is passed during Queue mode, it ignores the previously stored waypoints and follows the most recent target joint position.

This API works in Auto (Run) mode only. It does not operate in Manual (Teach) mode.

Definition
DRFLEx.h within class CDRFLEx, public section

bool servoj(float fTargetPos[NUM_JOINT],
            float fLimitVel[NUM_JOINT],
            float fLimitAcc[NUM_JOINT],
            float fTargetTime,
            DR_SERVOJ_TYPE eTargetMod = DR_SERVO_OVERRIDE)
{
    return _servoj(_rbtCtrl, fTargetPos, fLimitVel, fLimitAcc, fTargetTime, eTargetMod);
}

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[6]		Target joint position for six axes [deg].
fLimitVel	float[6]		Per-axis velocity limit applied to this command.
fLimitAcc	float[6]		Per-axis acceleration limit applied to this command.
fTargetTime	float		Desired motion time [sec] for the segment (see Notes).
eTargetMod	DR_SERVOJ_TYPE	DR_SERVO_OVERRIDE	Waypoint execution mode DR_SERVO_OVERRIDE: Follow the most recent command (override previous). DR_SERVO_QUEUE: Queue waypoints (keep and execute in order).

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

// Target joint pose and limits
float q[6]    = { 0.f, 0.f, 90.f, 0.f, 0.f, 0.f };
float jvel[6] = { 10.f, 10.f, 10.f, 10.f, 10.f, 10.f };
float jacc[6] = { 10.f, 10.f, 10.f, 10.f, 10.f, 10.f };

// Override: keep following the most recent target
drfl.servoj(q, jvel, jacc, 0.02f, DR_SERVO_OVERRIDE);

// Queue example (buffer waypoints)
// drfl.servoj(q, jvel, jacc, 0.02f, DR_SERVO_QUEUE);

Note

• If fTargetTime cannot be satisfied due to max velocity/acceleration limits, the controller automatically adjusts the timing and may display a notification.

• Not linked to the operation speed adjustment of change_operation_speed (no coupling with that setting).

• In Queue mode, commands are stored and followed in order; an Override call during Queue mode clears the buffered path and follows the latest command.