AvgForces Status

Application
Force Monitor Object FM#

Description
Returns average force and torque simultaneously.

Usage
FGet Object.AvgForces, rArray()

• Object
  Object name
  The object is specified as either of FM (numerical value) or FM (label).
• rArray()
  The number of elements, which define the property values, is an array of 8 or more real numbers.

Values
rArray()

Element number	Element number constant	Description
0	FG_FX	Acquires the average Fx force.
1	FG_FY	Acquires the average Fy force.
2	FG_FZ	Acquires the average Fz force.
3	FG_TX	Acquires the average Tx torque.
4	FG_TY	Acquires the average Ty torque.
5	FG_TZ	Acquires the average Tz torque.
6	FG_FMAG	Acquires the average resultant force Fmag.
7	FG_TMAG	Acquires the average resultant torque Tmag.

Note: When the number of elements is an array of 6 or 7, the element numbers acquired are 0 to 5.

Detailed Explanation
AvgForces returns force and torque averages simultaneously.
Execute AvgForceClear prior to executing AvgForces.
Without executing AvgForceClear, 0 is returned.
When the time from executing AvgForceClear to executing AvgForces is short, an error in the average force and torque is generated. 　Establish a low-pass filter with a time constant of about 5 times between the AvgForceClear and the AvgForces execution.
There is a time limit on AvgForces. Execute AvgForces within 600 seconds of executing AvgForceClear.
When AvgForces is executed after 600 seconds has passed, an error is generated.

Usage Example
This is an example of force averaging in the Fx axis.

Function CheckAverageForces
  Double AF(7)
  FSet FC1.Enabled, True, False, False, False, False, False
  FSet FC1.TargetForces, 10, 0, 0, 0, 0, 0
  FSet FS1.Reset
  FSet FM1.CoordinateSystem, FCS0
  FSet FM1.AvgForceClear, True, False, False, False, False, False, False, False
  FCKeep FC1, 10
  FGet FM1.AvgForces, AF()
  Print AF(FG_FX)
Fend

See Also
Force Monitor Object FM#