Fx_Polarity, Fy_Polarity, Fz_Polarity Property

Application
Force Trigger Object FT#

Description
This returns the status of or sets whether the force trigger is triggered by either being within the thresholds or being outside of the thresholds in the specified axis in the direction of translation.

Immediate Execution
No

Usage
FGet Object.XX_Polarity, iVar
FSet Object.XX_Polarity, iValue

• 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

• iVar
  An integer variable defining the value of the property

• iValue
  An integer value 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.

iValue

Name of constants	Values	Description
FG_OUT	0	Activates when the value is outside of the thresholds. (default)
FG_IN	1	Activates when the value is within the thresholds.

Detailed Explanation
XX_Polarity returns the status of or sets whether the force trigger is triggered by either being within the thresholds or being outside of the thresholds in the specified axis in the direction of translation.

Usage Example
This example generates an error and stops the robot when the force in the Fx direction is above the upper the upper or below the lower threshold.

Function SettingPolarity
  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#