Force Guide 8.0 Constant
Force Guide 8.0 Constant
The following constants are established for Force Guide 8.0.
The constants can be used as needed when writing a program.
Tips
In place of the name of the constant, a value can be inserted directly, but it is recommended that the name of the constants be used throughout the program.
| Name of Constants | Values | Application |
|---|---|---|
| FG_FX | 0 | All force objects |
| FG_FY | 1 | |
| FG_FZ | 2 | |
| FG_TX | 3 | |
| FG_TY | 4 | |
| FG_TZ | 5 | |
| FG_FMAG | 6 | |
| FG_TMAG | 7 | |
| FG_X | 0 | [FlangeOffset｜GravityDirection｜ GravityCenter｜Position｜Orientation] Property |
| FG_Y | 1 | |
| FG_Z | 2 | |
| FG_U | 3 | |
| FG_V | 4 | |
| FG_W | 5 | |
| FG_SPRING | 0 | FC#.(Axis) Property |
| FG_DAMPER | 1 | |
| FG_MASS | 2 | |
| FG_LIMIT_S | 0 | FC#.Limit[Accel｜Speed]SRJ Property |
| FG_LIMIT_R | 1 | |
| FG_LIMIT_J | 2 | |
| FG_XYZ | 0 | FT#.Fmag_Axes, Tmag_Axes Property FM#.Fmag_Axes, Tmag_Axes Property FMR#.Dist_Axes Property |
| FG_XY | 1 | |
| FG_YZ | 2 | |
| FG_ZX | 3 | |
| FG_ROT_X | 0 | FMR#.ROT_Axes Property |
| FG_ROT_Y | 1 | |
| FG_ROT_Z | 2 | |
| FG_ROT_ALL | 3 | |
| FG_FORCE | 0 | FT#.TriggerMode Property |
| FG_DIFF | 1 | |
| FG_OR | 0 | FT#.Operator Property FMR#.Operator Property |
| FG_AND | 1 | |
| FG_BASE | 0 | FCS#.Orientation Property |
| FG_LOCAL | 1 | |
| FG_TOOL | 2 | |
| FG_CUSTOM | 3 | |
| FG_OUT | 0 | FT#.(Axis)_Polarity Property FMR#.[PosX｜PosY｜PosZ｜Dist｜Rot｜(Joint)]_Polarity Property |
| FG_IN | 1 | |
| FG_LOWERLEVEL | 0 | FT#.[Fx｜Fy｜Fz｜Tx｜Ty｜Tz｜Fmag｜Tmag]_Levels Property FMR#.[PosX｜PosY｜PosZ｜Dist｜Rot｜(Joint)]_Levels Property |
| FG_UPPERLEVEL | 1 | |
| FG_CRD_SYS | 0 | FCS#.Orientation Property |
| FG_LOCAL_NO | 1 | |
| FG_CURRENT_TOOL | -1 | FM#.RobotTool Property |
| FG_RESET_FINE | 0 | FS#.Reset Property |
| FG_RESET_WAIT_VIBRATION | 1 | |
| FG_STANDARD_STOP | 0 | FT#.TillStopMode Property |
| FG_SOFT_STOP | 1 | |
| FG_ABS_COORD_SYS | 0 | FMR#.TriggerMode Property |
| FG_REL_COORD_SYS | 1 | |
| FG_REL_TOOL | 2 | |
| FG_REL_POINT | 3 | |
| FG_FRC_CORRECTION | 4 | |
| FG_ABS_JOINT | 5 | |
| FG_REL_JOINT | 6 | |
| FG_PASSED | 0 | Sequence.EndStatus Result Sequence.Object.EndStatus Result |
| FG_FAILED | 1 | |
| FG_NOEXEC | 2 | |
| FG_ABORTED | 3 |
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