Forces Status

Application
Force Monitor Object FM#

Description
This returns data on the resultant force.

Usage
FGet Object.Forces, rArray()

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

• rArray
  The number of elements, which define the property values, is an array of 8 or more real numbers.

Values
rArray()

Element number	Element number constant
0	FG_FX
1	FG_FY
2	FG_FZ
3	FG_TX
4	FG_TY
5	FG_TZ
6	FG_FMAG
7	FG_TMAG

Detailed Explanation
Forces returns data on the specified force coordinate system specified by CoordinateSystem.
Since this command acquires the current value, it will acquire the value without the application of the low-pass filter. The data reflecting the application of the low-pass filter can be confirmed via Force Monitor or Force Log.

Usage Example
This example establishes force coordinate systems 1 and 2, and acquires the respective resultant force data.

Function Test_Forces
  Real rArray1(8), rArray2(8)
  FSet FCS1.Position, 0, 0, 100
  FSet FCS1.Orientation, FG_TOOL
  FSet FCS2.Position, 0, 0, 5
  FSet FCS2.Orientation, FG_LOCAL, 1
  FSet FM1.ForceSensor, 1
  FSet FM1.CoordinateSystem, FCS1
  FGet FM1.Forces, rArray1()
  Print rArray1(FG_FX), rArray1(FG_FY), rArray1(FG_FZ), rArray1(FG_TX), rArray1(FG_TY), rArray1(FG_TZ), rArray1(FG_FMAG), rArray1(FG_TMAG)
  FSet FM1.ForceSensor, 1
  FSet FM1.CoordinateSystem, FCS2
  FGet FM1.Forces, rArray2()
  Print rArray2(FG_FX), rArray2(FG_FY), rArray2(FG_FZ), rArray2(FG_TX), rArray2(FG_TY), rArray2(FG_TZ), rArray2(FG_FMAG), rArray2(FG_TMAG)
Fend

See Also
Force Monitor Object FM#