Fx_Levels, Fy_Levels, Fz_Levels Property

Application
Force Trigger Object FT#

Description
This sets or returns the value of the lower force threshold and upper force threshold in the direction of translation in the specified axis.

Immediate Execution
No

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

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

• XX
  A character string defining the name of the property

• 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
XX

Specified Axis	Description
Fx	Specifies the X axis in the direction of translation.
Fy	Specifies the Y axis in the direction of translation.
Fz	Specifies the Z axis in the direction of translation.

rArray()

Element number	Element number constant
0	FG_ LOWERLEVEL
1	FG_ UPPERLEVEL

rValueL (Unit: [N])

	Values
Minimum	-1000 (default)
Maximum	1000

rValueU (Unit: [N])

	Values
Minimum	-1000
Maximum	1000 (default)

Detailed Explanation
XX_Levels sets or returns the lower and upper force threshold values for the specified axis in the direction of translation.
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 in the Fx direction.

Function SettingLevels
  FSet FT1.Enabled, True, False, False, False, False, False, False, False
  FSet FT1.Fx_Polarity, FG_OUT
  FSet FT1.Fx_Levels, -50, 50
  Trap 1, FT1 Call ForceError
Fend

Function ForceError
  AbortMotion All
Fend

See Also
Force Trigger Object FT#