GravityDirection Property

Application
Robot Object Robot

Description
Sets or returns the direction of gravity for the robot.

Usage
FGet Robot.GravityDirection, rArray()
FSet Robot.GravityDirection, rValueX, rValueY, rValueZ

• rArray()
  The maximum number of elements to define the value of the property is an array of 3 or more real number variables

• rValueX
  A real number or formula defining the new value of the property.

• rValueY
  A real number or formula defining the new value of the property.

• rValueZ
  A real number or formula defining the new value of the property.

Values
rArray()

Element number	Element number constant	Description
0	FG_X	X component of gravitational vector
1	FG_Y	Y component of gravitational vector
2	FG_Z	Z component of gravitational vector

rValueX, rValueY, rValueZ

	Values
Minimum	-1
Maximum	1

Default: (rValueX, rValueY, rValueZ) = (0, 0, -1)

NOTE: Should (rValueX, rValueY, rValueZ) = (0, 0, 0), an error will occur.

Detailed Explanation
This sets or returns the orientation of the vector of gravitational acceleration in the base coordinate system.
Set the direction of gravity only.
　　rValueX² + rValueY² + rValueZ² = 1
The settings described above are recommended.
Should the settings of (rValueX, rValueY, rValueZ) = (0, 0, 0), the direction of gravity will not be fixed, so an error will occur.

Usage Example
This example sets the direction of gravity and the Mass Property Object, and carries out a motion with the force control function active.

> FSet Robot.GravityDirection, 0, 0, -1
> MPSet MP1.GravityCenter, 10, 10, 100
> MPSet MP1.Mass, 2
> MP 1
> Move CurPos +TLW(10) FC1 ROT

See Also
Robot Object Robot