J1_Polarity, J2_Polarity, J3_Polarity, J4_Polarity, J5_Polarity, J6_Polarity Property

Application
Force Motion Restriction Object FMR#

Description
This returns the status of or sets whether the force motion restriction is triggered by either being within the thresholds or being outside of the thresholds for the axis position.

Immediate Execution
No

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

• 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

• 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
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.

iValue

Constant name	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 motion restriction is triggered by either being within the thresholds or being outside of the thresholds for the axis position.

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 SettingPolarity
  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#