EndForces Result

Description
Returns force and torque at end of a force guide object or force guide sequence.

Usage
FGGet Sequence.EndForces, rArray()
FGGet Sequence.Object.EndForces, rArray()

• Sequence
  Force guide sequence name

• Object
  Force guide object name
  Omitted when a result of a force guide sequence is acquired.

• rArray
  Real array variable with six or more elements showing returned values

Values
rArray()

Element number	Element number constant	Description
0	FG_FX	Acquires force in Fx direction at end of a force guide sequence or force guide object.
1	FG_FY	Acquires force in Fy direction at end of a force guide sequence or force guide object.
2	FG_FZ	Acquires force in Fz direction at end of a force guide sequence or force guide object.
3	FG_TX	Acquires torque in Tx direction at end of a force guide sequence or force guide object.
4	FG_TY	Acquires torque in Ty direction at end of a force guide sequence or force guide object.
5	FG_TZ	Acquires torque in Tz direction at end of a force guide sequence or force guide object.

Detailed Explanation
Returns force and torque at end of a force guide object or force guide sequence.
If the number of elements in a specified array variable is less than six, returns force and torque in each direction for the defined element numbers.
Also, if the number of elements in the array variable exceeds six, returns force and torque in each direction from element number 0 to 5, while making no change to element number 6 and above.

Usage Example
The following is an example of a simple program that acquires a result with FGGet.

Function EndForceTest
  Double dArray(6)

  Motor On

  FGRun Sequence1
  FGGet Sequence1.Contact01.EndForces, dArray()  ' Acquisition of EndForces
  Print dArray(FG_FX)

Fend

See Also
FGGet, GeneralPurpose sequence, Contact object, Relax object, FollowMove object, SurfaceAlign object, PressProbe object, ContactProbe object, Press object, PressMove object, Paste sequence, Paste object, ScrewTighten sequence, ScrewTighten object, ScrewRetighten object, HeightInspect sequence, HeightInspect object, Insert sequence, Insert object, TensileTest object