JointPolarities Property

Application
Force Motion Restriction Object FMR#

Description
Sets or returns for each axis whether the force motion restriction is activated or inactivated when values correspond to or do not correspond with threshold values.

Immediate Execution
No

Usage
FGet Object.JointPolarities, iArray()
FSet Object.JointPolarities, iValueJ1, iValueJ2, iValueJ3, iValueJ4, iValueJ5, iValueJ6

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

• iArray()
  The number of elements defining the values of the property is an array of 6 or more real number variables

• iValueJ1
  An integer value or formula defining the new value of the property

• iValueJ2
  An integer value or formula defining the new value of the property

• iValueJ3
  An integer value or formula defining the new value of the property

• iValueJ4
  An integer value or formula defining the new value of the property

• iValueJ5
  An integer value or formula defining the new value of the property

• iValueJ6
  An integer value or formula defining the new value of the property

Values
iArray()

Element number	Element number constant	Description
0	FG_J1	Returns whether the force motion restriction is activated by values within or outside of the threshold values in J1.
1	FG_J2	Returns whether the force motion restriction is activated by values within or outside of the threshold values in J2.
2	FG_J3	Returns whether the force motion restriction is activated by values within or outside of the threshold values in J3.
3	FG_J4	Returns whether the force motion restriction is activated by values within or outside of the threshold values in J4.
4	FG_J5	Returns whether the force motion restriction is activated by values within or outside of the threshold values in J5.
5	FG_J6	Returns whether the force motion restriction is activated by values within or outside of the threshold values in J6.

iValueJ1, iValueJ2, iValueJ3, iValueJ4, iValueJ5, iValueJ6 (Unit: Number)

Name of Constants	Values	Description
FG_OUT	0	Sets to active when over or under the upper and lower threshold values, respectively. (default)
FG_IN	1	Sets to active when within the upper threshold and lower threshold values.

Detailed Explanation
JointPolarities return the status of or set whether the force motion restriction is triggered for each axis by the value being either within the thresholds or outside of the thresholds.
When setting the trigger for each axis at the same time, this allows one to set all of them with fewer lines than setting them 1 axis at a time.

Usage Example
This example will generate an error and stop the robot if each axis is above the upper threshold or below the lower threshold.

Function SettingPolarities
  FSet FMR1.JointEnabled, True, True, True, True, True, True
  FSet FMR1.JointPolarities, FG_OUT, FG_OUT, FG_OUT, FG_OUT, FG_OUT, FG_OUT
  FSet FMR1.JointLowerLevels, -90, -90, -90, -90, -90, -90
  FSet FMR1.JointUpperLevels, 90, 90, 90, 90, 90, 90
  Trap 1, FMR1 Call ForceError
Fend

Function ForceError
  AbortMotion All
Fend

See Also
Force Motion Restriction Object FMR#