FMR (Force Motion Restriction) Object

Description
Force motion restriction is an object (collectively) used for changing the movement path based on the position of the robot, and for use with conditional branches.

Range
FMR0 to FMR63

ForceSensor	Sets or returns the number of the force sensor in question.
HoldTimeThresh	Sets or returns the duration to determine that trigger conditions have been achieved.
CoordinateSystem	Sets or returns the force coordinates.
Operator	Sets or returns the trigger conditions when multiple triggers are set.
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.
TriggerMode	Sets or returns the object of the force motion restriction monitor.
DatumPoint	Sets or returns the reference point when TriggerMode is set to FG_REL_POINT.
PosX_Enabled	Sets or returns the enable/disable switch for the force motion restriction function for the position on the X axis.
PosY_Enabled	Sets or returns the enable/disable switch for the force motion restriction function for the position on the Y axis.
PosZ_Enabled	Sets or returns the enable/disable switch for the force motion restriction function for the position on the Z axis.
PosEnabled	Collectively sets or returns the enable/disable switch for the force motion restriction function for the position on each axis.
Dist_Enabled	Sets or returns the enable/disable switch for the force motion restriction function for the distance of the specified axis.
Rot_Enabled	Sets or returns the enable/disable switch for the force motion restriction function for the rotation angle of the specified axis.
J1_Enabled	Sets or returns the enable/disable switch for the force motion restriction function for the J1 joint position.
J2_Enabled	Sets or returns the enable/disable switch for the force motion restriction function for the J2 joint position.
J3_Enabled	Sets or returns the enable/disable switch for the force motion restriction function for the J3 joint position.
J4_Enabled	Sets or returns the enable/disable switch for the force motion restriction function for the J4 joint position.
J5_Enabled	Sets or returns the enable/disable switch for the force motion restriction function for the J5 joint position.
J6_Enabled	Sets or returns the enable/disable switch for the force motion restriction function for the J6 joint position.
JointEnabled	Collectively sets or returns the enable/disable switch for the force motion restriction function for each joint position.
Dist_Axes	Sets or returns the target axis for finding the force motion restriction range in relation to distance.
Rot_Axes	Sets or returns the target axis for finding the force motion restriction range in relation to rotation angle.
PosX_Polarity	Sets or returns whether to activate force motion restriction when the X axis position falls within, or outside the threshold range.
PosY_Polarity	Sets or returns whether to activate force motion restriction when the Y axis position falls within, or outside the threshold range.
PosZ_Polarity	Sets or returns whether to activate force motion restriction when the Z axis position falls within, or outside the threshold range.
PosPolarities	Collectively sets or returns whether to activate force motion restriction when the positions on each axis fall within, or outside the threshold range.
Dist_Polarity	Sets or returns whether to activate force motion restriction when the robot position falls within, or outside the threshold range for distance.
Rot_Polarity	Sets or returns whether to activate force motion restriction when the robot position falls within, or outside the threshold range for the rotation angle.
J1_Polarity	Sets or returns whether to activate force motion restriction when the J1 joint position falls within, or outside the threshold range.
J2_Polarity	Sets or returns whether to activate force motion restriction when the J2 joint position falls within, or outside the threshold range.
J3_Polarity	Sets or returns whether to activate force motion restriction when the J3 joint position falls within, or outside the threshold range.
J4_Polarity	Sets or returns whether to activate force motion restriction when the J4 joint position falls within, or outside the threshold range.
J5_Polarity	Sets or returns whether to activate force motion restriction when the J5 joint position falls within, or outside the threshold range.
J6_Polarity	Sets or returns whether to activate force motion restriction when the J6 joint position falls within, or outside the threshold range.
JointPolarities	Collectively sets or returns whether to activate force motion restriction when the positions on each joint fall within, or outside the threshold range.
PosX_Levels	Sets or returns the lower and upper threshold limits for the position in the direction of the X axis.
PosY_Levels	Sets or returns the lower and upper threshold limits for the position in the direction of the Y axis.
PosZ_Levels	Sets or returns the lower and upper threshold limits for the position in the direction of the Z axis.
PosUpperLevels	Collectively sets or returns the upper threshold limit for the positions in the direction of each axis.
PosLowerLevels	Collectively sets or returns the lower threshold limit for the positions in the direction of each axis.
Dist_Levels	Sets or returns the lower and upper threshold limits for robot travel distance.
Rot_Levels	Sets or returns the lower and upper threshold limits for the angle of movement of the robot.
J1_Levels	Sets or returns the lower and upper threshold limits for the J1 joint position.
J2_Levels	Sets or returns the lower and upper threshold limits for the J2 joint position.
J3_Levels	Sets or returns the lower and upper threshold limits for the J3 joint position.
J4_Levels	Sets or returns the lower and upper threshold limits for the J4 joint position.
J5_Levels	Sets or returns the lower and upper threshold limits for the J5 joint position.
J6_Levels	Sets or returns the lower and upper threshold limits for the J6 joint position.
JointUpperLevels	Collectively sets or returns the upper threshold limit for each joint position.
JointLowerLevels	Collectively sets or returns the lower threshold limit for each joint position.
Triggered	Returns the status of the force motion restriction.
TriggeredAxes	Returns the achievement status for force motion restriction by axis when the object monitored is in position.
TriggeredJoints	Returns the achievement status for force motion restriction by axis when the object monitored is in the joint position.
TriggeredPos	Returns position when end conditions of force motion restriction are achieved.
TriggeredForces	Returns force and torque when end conditions of force motion restriction are achieved.