JointUpperLevels Property

Application
Force Motion Restriction Object FMR#

Description
This sets or returns the value of the upper threshold for rotation angle on each axis at the same time.

Immediate Execution
No

Usage
FGet Object.JointUpperLevels, rArray()
FSet Object.JointUpperLevels, rValueJ1, rValueJ2, rValueJ3, rValueJ4, rValueJ5, rValueJ6

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

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

• rValueJ1
  A real number or formula defining the new value of the property.

• rValueJ2
  A real number or formula defining the new value of the property.

• rValueJ3
  A real number or formula defining the new value of the property.

• rValueJ4
  A real number or formula defining the new value of the property.

• rValueJ5
  A real number or formula defining the new value of the property.

• rValueJ6
  A real number or formula defining the new value of the property.

Values
rArray()

Element number	Element number constant	Description
0	FG_J1	Acquires the upper threshold for rotation angle of J1.
1	FG_J2	Acquires the upper threshold for rotation angle of J2.
2	FG_J3	Acquires the upper threshold for rotation angle of J3.
3	FG_J4	Acquires the upper threshold for rotation angle of J4.
4	FG_J5	Acquires the upper threshold for rotation angle of J5.
5	FG_J6	Acquires the upper threshold for rotation angle of J6.

rValueJ1, rValueJ2, rValueJ3, rValueJ4, rValueJ5, rValueJ6 (Unit: [Degree])

	Values
Minimum	-360
Maximum	360 (default)

Detailed Explanation
JointUpperLevels sets or returns the value of the upper threshold for rotation angle of each axis at the same time.
Be sure that JointLowerLevels < JointUpperLevels
Since all upper threshold values for rotation angle of each axis are set at one time, it can be done with fewer lines than setting them one axis at a time.
This is used for error checking and task completion conditions.

Usage Example
This example generates an error and stops the robot when the rotation angle is greater than the upper threshold.

Function SettingLevels
  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.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#