LowerLevels Property

Application
Force Trigger Object FT#

Description
This sets or returns the lower threshold value of force and torque in each axis at the same time.

Immediate Execution
No

Usage
FGet Object.LowerLevels, rArray()
FSet Object.LowerLevels, rValueFx, rValueFy, rValueFz, rValueTx, rValueTy, rValueTz [, rValueFmag, rValueTmag]

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

• rArray()
  The maximum number of elements defining the value of the property is an array of 8 or more real number variable

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

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

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

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

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

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

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

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

Values
rArray()

Element number	Element number constant	Description
0	FG_FX	Acquires the lower threshold value for Fx force.
1	FG_FY	Acquires the lower threshold value for Fy force.
2	FG_FZ	Acquires the lower threshold value for Fz force.
3	FG_TX	Acquires the lower threshold value for Tx torque.
4	FG_TY	Acquires the lower threshold value for Ty torque.
5	FG_TZ	Acquires the lower threshold value for Tz torque.
6	FG_FMAG	Acquires the lower threshold value for Fmag resultant force.
7	FG_TMAG	Acquires the lower threshold value for Tmag resultant torque.

Note: When the number of elements is an array of 6 or 7, this will acquire element numbers 0 to 5.

rValueFx, rValueFy, rValueFz (Unit: [N])

	Values
Minimum	-1000 (default)
Maximum	1000

rValueTx, rValueTy, rValueTz (Unit: [N·mm])

	Values
Minimum	-100000 (default)
Maximum	100000

rValueFmag (Unit: [N])

	Values
Minimum	0 (default)
Maximum	1000

rValueTmag (Unit: [N·mm])

	Values
Minimum	0 (default)
Maximum	100000

Detailed Explanation
LowerLevels sets or returns the lower threshold value for force and torque in each axis.
Be sure that LowerLevels < UpperLevels.
Since all force and torque lower threshold values for 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 if force is less than the lower threshold value.

Function SettingLevels
  FSet FT1.Enabled, True, True, True, True, True, True, True, True
  FSet FT1.Polarities, FG_OUT, FG_OUT, FG_OUT, FG_OUT, FG_OUT, FG_OUT, FG_OUT, FG_OUT
  FSet FT1.LowerLevels, -50, -50, -50, -3000, -3000, -3000, 0, 0
  Trap 1, FT1 Call ForceError
Fend

Function ForceError
  AbortMotion All
Fend

See Also
Force Trigger Object FT#