Dist_Levels Property

Application
Force Motion Restriction Object FMR#

Description
Sets or returns the value of the lower threshold and upper threshold of movement distance.

Immediate Execution
No

Usage
FGet Object.Dist_Levels, rArray()
FSet Object.Dist _Levels, rValueL, rValueU

• Object
  Object name
  The object is specified as either of FMR (numerical value) or FMR (label).
• rArray()
  The number of elements defining the values of the property is an array of 2 or more real number variables
• rValueL
  A real number or formula defining the new value of the property.
• rValueU
  A real number or formula defining the new value of the property.

Values
rArray()

Element number	Element number constant
0	FG_ LOWERLEVEL
1	FG_ UPPERLEVEL

rValueL (Unit: [mm])

	Values
Minimum	0 (default)
Maximum	20000

rValueU (Unit: [mm])

	Values
Minimum	0
Maximum	20000 (default)

Detailed Explanation
Dist_Levels allow you to set or return the value of the lower threshold and upper threshold of movement distance.
rValueL is the lower threshold. rValueU is the upper threshold. Be sure that rValueL < rValueU.
This is used for error checking and task completion conditions.

Usage Example
This is an example of stopping the robot due to an error from being below the lower threshold or above the upper threshold in the movement distance.

Function SettingLevels
  FSet FMR1.Dist_Enabled, True
  FSet FMR1.Dist_Polarity, FG_OUT
  FSet FMR1.Dist_Levels, 0, 100
  Trap 1, FMR1 Call ForceError
Fend

Function ForceError
  AbortMotion All
Fend

See Also
Force Motion Restriction Object FMR#