FM (Force Monitor) Object
Description
This object (collectively) is used to display the value from the force sensor and when recording that value.
Range
FM0 to FM255
| ForceSensor | Sets or returns the number of the force sensor in question. |
| CoordinateSystem | Sets or returns the force coordinates. |
| RobotLocal | Sets or returns the local coordinate system that will serve as the basis for robot positions. |
| RobotTool | Sets or returns the tool coordinate system that will serve as the basis for robot positions. |
| Fmag_Axes | Sets or returns the subject axis for calculating the resultant force. |
| Tmag_Axes | Sets or returns the subject axis for calculating the resultant torque. |
| Fx_LPF_Enabled | Activates/inactivates or returns the low-pass filter applied to the force in the X axis in the direction of translation. |
| Fy_LPF_Enabled | Activates/inactivates or returns the low-pass filter applied to the force in the Y axis in the direction of translation. |
| Fz_LPF_Enabled | Activates/inactivates or returns the low-pass filter applied to the force in the Z axis in the direction of translation. |
| Tx_LPF_Enabled | Activates/inactivates or returns the low-pass filter applied to the rotational force around the X axis. |
| Ty_LPF_Enabled | Activates/inactivates or returns the low-pass filter applied to the rotational force around the Y axis. |
| Tz_LPF_Enabled | Activates/inactivates or returns the low-pass filter applied to the rotational force around the Z axis. |
| Fmag_LPF_Enabled | Activates/inactivates or returns the resultant force low-pass filter. |
| Tmag_LPF_Enabled | Activates/inactivates or returns the resultant torque low-pass filter. |
| LPF_Enabled | Activates/inactivates or returns the low-pass filters applied to each axis simultaneously. |
| Fx_LPF_TimeConstant | Sets or returns the time constant for the low-pass filter applied to the force in the X axis in the direction of translation. |
| Fy_LPF_TimeConstant | Sets or returns the time constant for the low-pass filter applied to the force in the Y axis in the direction of translation. |
| Fz_LPF_TimeConstant | Sets or returns the time constant for the low-pass filter applied to the force in the Z axis in the direction of translation. |
| Tx_LPF_TimeConstant | Sets or returns the time constant for the low-pass filter applied to the rotational force around the X axis. |
| Ty_LPF_TimeConstant | Sets or returns the time constant for the low-pass filter applied to the rotational force around the Y axis. |
| Tz_LPF_TimeConstant | Sets or returns the time constant for the low-pass filter applied to the rotational force around the Z axis. |
| Fmag_LPF_TimeConstant | Sets or returns the time constant for the low-pass filter applied to the resultant force. |
| Tmag_LPF_TimeConstant | Sets or returns the time constant for the low-pass filter applied to the resultant torque. |
| LPF_TimeConstants | Sets or returns the time constant for the low-pass filter applied to each axis simultaneously. |
| AvgForceClear | Activates/inactivates force and torque averaging simultaneously. |
| PeakForceClear | Activates/inactivates force and torque peak value calculations simultaneously. |
| RecordEnd | Ends recording of sensor values, robot position/orientation, and StepID that starts by RecordStart property. |
| RecordStart | Begins recording of sensor values, robot position/orientation, StepID, and the time of data acquisition. |
| Fx_Force | Returns X axis force. |
| Fy_Force | Returns Y axis force. |
| Fz_Force | Returns Z axis force. |
| Tx_Force | Returns X axis torque. |
| Ty_Force | Returns Y axis torque. |
| Tz_Force | Returns Z axis torque. |
| Fmag_Force | Returns the resultant force for the force monitor object. |
| Tmag_Force | Returns the resultant torque for the force monitor object. |
| Forces | Returns all force data, torque data, resultant force data, and resultant torque data on force monitor object. |
| Fx_AvgForce | Returns average Fx force. |
| Fy_AvgForce | Returns average Fy force. |
| Fz_AvgForce | Returns average Fz force. |
| Tx_AvgForce | Returns average Tx torque. |
| Ty_AvgForce | Returns average Ty torque. |
| Tz_AvgForce | Returns average Tz torque. |
| Fmag_AvgForce | Returns average resultant force. |
| Tmag_AvgForce | Returns average resultant torque. |
| AvgForces | Returns average force and torque simultaneously. |
| Fx_PeakForce | Returns the peak Fx force. |
| Fy_PeakForce | Returns the peak Fy force. |
| Fz_PeakForce | Returns the peak Fz force. |
| Tx_PeakForce | Returns the peak Tx torque. |
| Ty_PeakForce | Returns the peak Ty torque. |
| Tz_PeakForce | Returns the peak Tz torque. |
| Fmag_PeakForce | Returns the resultant force peak. |
| Tmag_PeakForce | Returns the resultant torque peak. |
| PeakForces | Returns the resultant force and torque peaks simultaneously. |