CoordinateSystem Property

Application
Force Control Object FC#, Force Trigger Object FT#,
Force Monitor Object FM#, Force Motion Restriction Object FMR#

Description
Returns or sets the force coordinates.

Immediate Execution
No

Usage
FGet Object.CoordinateSystem, iVar
FSet Object.CoordinateSystem, FCS#

• Object
  Object name
  Object name or string variable defining object name The object is specified as FC (numerical value), FT (numerical value), FM (numerical value), FMR (numerical value), FC (label), FT (label), or FM (label), FMR (label).
• iVar
  An integer variable defining the value of the property
• FCS#
  Force Coordinate System Object Specified as whether FCS (numerical value) or FCS (label).

Values
iVar

	Value
Minimum	0 (default)
Maximum	63

Detailed Explanation
Sets or returns the force coordinates used with the force control function, the force trigger function, the force monitor function, and the force motion restriction function.
The CoordinateSystem default is FCS0. It means the same since FCS0 matches to the leading point setting of the tool at the moment. (You cannot change FCS0 setting. This is a description to help understanding.)

FSet FCS0.Position, 0, 0, 0
FSet FCS0.Orientation, FG_TOOL

Usage Example
This example sets the origin and coordinate axes for force coordinate 1, then sets force coordinate 1 as the Force Monitor Object, and acquires the force data.

Function GetForces
  Real myForces(8)
  FSet FCS1.Position, 0, 0, 100
  FSet FCS1.Orientation, FG_TOOL
  FSet FM1.CoordinateSystem, FCS1
  FGet FM1.Forces, myForces()
  Print myForces(FG_FX), myForces(FG_FY), myForces(FG_FZ)
Fend

See Also
Force Coordinate System Object FCS#, Force Control Object FC#, Force Trigger Object FT#, Force Monitor Object FM#, Force Motion Restriction FMR#