Fmag_Levels Property

Application
Force Trigger Object FT#

Description
Sets or returns the upper and lower threshold values for resultant force.

Immediate Execution
No

Usage
FGet Object.Fmag_Levels, rArray()
FSet Object.Fmag_Levels, rValueL, rValueU

• Object
  Object name
  The object is specified as either of FT (numerical value) or FT (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: [N])

	Values
Minimum	0 (default)
Maximum	1000

rValueU (Unit: [N])

	Values
Minimum	0
Maximum	1000 (default)

Detailed Explanation
Fmag_Levels sets or returns the upper and lower thresholds for resultant force.
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.

Function SettingLevels
  FSet FT1.Enabled, False, False, False, False, False, False, True, False
  FSet FT1.Fmag_Polarity, FG_OUT
  FSet FT1.Fmag_Levels, 0, 50
  Trap 1, FT1 Call ForceError
Fend

Function ForceError
  AbortMotion All
Fend

See Also
Force Trigger Object FT#