FCOn Function

Description
Determines if the specified robot is executing the force control function.

Usage
FCOn(RobotNo)

• RobotNo
  An integer value or formula which specifies the robot number.

Return Values

Number	Constant	Description
0	Off	Force Control Function is inactive
1	On	Force Control Function is active

Detailed Explanation
This identifies whether the specified robot is executing the force control function or not.
“On” will be returned when the force control function is active due to a CF parameter following the completion of a motion command, or when the force control function is active due to FCKeep.

Usage Example
The following displays the activation status of the force control function.

Function main
  If FCOn(1) = Off Then
    Print "Force Control is off"
  EndIf
Fend

See Also
FCKeep, FCEnd, Force Control Object FC#