J1_Levels, J2_ Levels, J3_ Levels, J4_ Levels, J5_ Levels, J6_ Levels Property

Application
Force Motion Restriction Object FMR#

Description
Sets or returns the value of the lower threshold and upper threshold in axis position.

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 FMR (numerical value) or FMR (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
J1	Specifies J1 as an axis position.
J2	Specifies J2 as an axis position.
J3	Specifies J3 as an axis position.
J4	Specifies J4 as an axis position.
J5	Specifies J5 as an axis position.
J6	Specifies J6 as an axis position.

rArray()

Element number	Element number constant
0	FG_ LOWERLEVEL
1	FG_ UPPERLEVEL

rValueL (Unit: [Degree])

	Axis	Values
Minimum	J1, J2, J5, J6	-360	(default)
	J3, J4	-1000
Maximum	J1, J2, J3, J5, J6	360
	J4	1000

rValueU (Unit: [Degree])

	Axis	Values
Minimum	J1, J2, J5, J6	-360
	J3, J4	-1000
Maximum	J1, J2, J3, J5, J6	360	(default)
	J4	1000

Detailed Explanation
XX_Levels set or return the value of the lower threshold and upper threshold in axis position.
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 example generates an error and stops the robot when the J1 axis position is above the upper or below the lower threshold.

Function SettingLevels
  FSet FMR1.JointEnabled, True, False, False, False, False, False
  FSet FMR1.J1_Polarity, FG_OUT
  FSet FMR1.J1_Levels, -90, 90
  Trap 1, FMR1 Call ForceError
Fend

Function ForceError
  AbortMotion All
Fend

See Also
Force Motion Restriction Object FMR#