Dist_Polarity Property

Application
Force Motion Restriction Object FMR#

Description
This returns the status of or sets whether the force motion restriction is triggered by either being within the thresholds or being outside of the thresholds in the movement distance.

Immediate Execution
No

Usage
FGet Object.Dist_Polarity, iVar
FSet Object.Dist _Polarity, iValue

• Object
  Object name
  The object is specified as either of FMR (numerical value) or FMR (label).
• iVar
  An integer variable defining the value of the property
• iValue
  An integer value or formula defining the new value of the property

Values
iValue

Constant name	Values	Description
FG_OUT	0	Activates when the value is outside of the thresholds. (default)
FG_IN	1	Activates when the value is within the thresholds.

Detailed Explanation
Dist_Polarity returns the status of or sets whether the force trigger is triggered by either being within the thresholds or being outside of the thresholds in the movement distance.

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 SettingPolarity
  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#