Enabled Property

Application
Force Control Object FC#, Force Trigger Object FT#

Description
Activates/inactivates the force control function or the force trigger function for each axis at the same time, or returns the status thereof.

Immediate Execution
No

Usage
FGet Object.Enabled, bArray()
FSet FC#.Enabled, bValueFx, bValueFy, bValueFz, bValueTx, 　bValueTy, bValueTz
FSet FT#.Enabled, bValueFx, bValueFy, bValueFz, bValueTx, bValueTy, bValueTz [,bValueFm, bValueTm]

• Object
  Object name
  The object is specified as either of FC (numerical value), FT (numerical value) or FT (label).

• bArray()
  The number of elements, which define the property values, is an array of 6 or 8 or more real number variables

• bValueFx
  A Boolean value or formula defining the new value of the property

• bValueFy
  A Boolean value or formula defining the new value of the property

• bValueFz
  A Boolean value or formula defining the new value of the property

• bValueTx
  A Boolean value or formula defining the new value of the property

• bValueTy
  A Boolean value or formula defining the new value of the property

• bValueTz
  A Boolean value or formula defining the new value of the property

• bValueFm
  A Boolean value or formula defining the new value of the property

• bValueTm
  A Boolean value or formula defining the new value of the property

Values
bArray()

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

Note: When the number of elements is an array of 6 or 7, or for a force control object, the element number returns 0 to 5.

bValueFx, bValueFy, bValueFz, bValueTx, bValueTy, bValueTz, bValueFm, bValueTm

Name of Constants	Values	Description
False	0	Inactivates the subject axis. (default)
True	-1	Activates the subject axis.

Detailed Explanation
Activates/inactivates the force control function or the force trigger function for each axis at the same time, or returns the status thereof.
For SCARA robots (including RS series), the force control cannot be executed with the FC object when Tx or Ty for the Enable property is “True”.

See Also
Force Control Object FC#, Force Trigger Object FT#