DatumPoint Property

Application
Force Motion Restriction Object FMR#

Description
Sets or returns the reference point when TriggerMode is set to FG_REL_POINT.

Immediate Execution
No

Usage
FGet Object.Description, iVar
FSet Object.Description, P#

Object
Force object　name
The force object is specified as either FMR (numerical value) or FMR (label).
iVar
An integer variable defining the value of the property
P#
A variable defining the point data

Detailed Explanation
This sets or returns the reference point data when the TriggerMode property is set to FG_REL_POINT.
This property is used to set or confirm the reference point for robot positions/orientations for determining set trigger met conditions. If a force motion restriction object with the TriggerMode property set to FG_REL_POINT is specified for Till, Wait, or other qualifier, monitoring will begin by applying point data from the time that monitoring starts. Note that any changes to the point data specified by this property will not be applied to monitoring if such changes are made after monitoring begins.
When using this property with FSet, specify point data such as P1. However, note that temporary point data acquired by Here and other similar functions cannot be specified. When using this property with FGet, specify an integer variable such as Integer to acquire the point number. For example, “1” will be acquired when specifying P1. Keep this in mind when different types of variables are used for FSet and FGet.

Usage Example
This is an example of setting P1 as the reference point for the force motion restriction object.

Function DatumPointTest
  Integer iVar
  FSet FMR1.DatumPoint, P1    'Specify P1 as the reference point data
  FGet FMR1.DatumPoint, iVar  'iVar will be set to “1”

  Print iVar
Fend

See Also
Force Motion Restriction Object FMR#

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