servol_g (Auto Mode)

This function performs asynchronous Cartesian interpolation using velocity and acceleration blending, enabling smooth, continuous TCP (Tool Center Point) motion. It updates position targets in real time while maintaining the specified kinematic constraints.

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

Definition
DRFLEx.h within class CDRFLEx, public section

bool servol_g(float fTargetPos[NUM_TASK],
              float fTargetVel[2],
              float fTargetAcc[2],
              float fTargetTime = 0.f)
{
    return _servol_g(_rbtCtrl, fTargetPos, fTargetVel, fTargetAcc, fTargetTime);
}

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[6]		Target Cartesian pose [X, Y, Z, Rx, Ry, Rz]. Rx, Ry, Rz are fixed X-Y-Z angles in deg.
fTargetVel	float[2]		Translational and rotational velocity limits.
fTargetAcc	float[2]		Translational and rotational acceleration limits.
fTargetTime	float	0.0f	Transition time [sec] Automatically adjusted as needed.

Caution

The function converts Rx, Ry, Rz to ZYZ Euler angles and writes them back into fTargetPos[3] to fTargetPos[5]. Pass a fresh copy of the target pose on every call; reusing the same array converts the angles again.

Return

Value	Description
0	Failed
1	Success

Example

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

float tcp[6] = {400.f, 200.f, 300.f, 180.f, 0.f, 0.f};
float vel[2] = {100.f, 50.f};
float acc[2] = {200.f, 100.f};

drfl.servol_g(tcp, vel, acc, 0.4f);

Note

• servol_g provides continuous TCP motion with velocity/acceleration blending.

• Ideal for path streaming, sensor-based control, and hybrid trajectory updates.

• If fTargetTime cannot be met, motion parameters are internally optimized.

• It is not linked with change_operation_speed() or force/stiffness control APIs.

• Use for smooth Cartesian trajectory generation and real-time feedback control.