LPF_Enabled Property

Application
Force Trigger Object FT#, Force Monitor Object FM#

Description
This activates/inactivates or returns the status of the low-pass filter in each axis of the force coordinate system.

Immediate Execution
No

Usage
FGet Object.LPF_Enabled, bArray()
FSet Object.LPF_Enabled, bValueFx, bValueFy, bValueFz, bValueTx, bValueTy, bValueTz [,bValueFmag, bValueTmag]

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

• bArray()
  The maximum number of elements defining the value of the property is an array of 6 or more Boolean variables

• bValueFx
  A Boolean value or formula defining the new value of the property

• bValueFy
  A Boolean value or formula defining the new value of the property

• bValueFz
  A Boolean value or formula defining the new value of the property

• bValueTx
  A Boolean value or formula defining the new value of the property

• bValueTy
  A Boolean value or formula defining the new value of the property

• bValueTz
  A Boolean value or formula defining the new value of the property

• bValueFmag
  A Boolean value or formula defining the new value of the property

• bValueFmag
  A Boolean value or formula defining the new value of the property

Values
bArray()

Element number	Element number constant	Description
0	FG_FX	Activates/inactivates the Fx low-pass filter.
1	FG_FY	Activates/inactivates the Fy low-pass filter.
2	FG_FZ	Activates/inactivates the Fz low-pass filter.
3	FG_TX	Activates/inactivates the Tx low-pass filter.
4	FG_TY	Activates/inactivates the Ty low-pass filter.
5	FG_TZ	Activates/inactivates the Tz low-pass filter.
6	FG_FMAG	Activates/inactivates the Fmag resultant force low-pass filter.
7	FG_TMAG	Activates/inactivates the Tmag resultant torque low-pass filter.

Note: When the number of elements is an array of 6 or 7 variables, only the element number settings 0 to 5 are acquired.

bValueFx, bValueFy, bValueFz, bValueTx, bValueTy, bValueTz, bValueFmag, bValueTmag

Name of Constants	Values	Description
False	0	Sets the low-pass filter to inactive. (default)
True	-1	Sets the low-pass filter to active.

Detailed Explanation
This activates/inactivates or returns the status of the low-pass filter in the specified axes of the force coordinate system.
It activate/inactivate the following settings.

bValueFx: Fx		bValueFy: Fy		bValueFz: Fz
bValueTx: Tx		bValueTy: Ty		bValueTz: Tz
bValueFmag: Fmag			bValueTmag :Tmag

The signal noise reduction can be enhanced when the low-pass filter is activated, but the following performance for quick signal changes deteriorates.
The low-pass filter is used with AvgForces Status, PeakForces Status, the Force Trigger Function, Force Monitor, and Force Control Monitor Function, but is not used with Forces Status.

Usage Example
This example sets the low-pass filter and acquires the value when the maximum absolute value is attained for torque.

Function GetPeakForces
  Real myPeakForces(6)
  FSet FCS1.Orientation, FG_TOOL
  FSet FM1.CoordinateSystem, FCS1
  FSet FM1.LPF_Enabled, True, True, True, True, True, True
  FSet FM1.LPF_TimeConstants, 0.02, 0.02, 0.02, 0.02, 0.02, 0.02
  FSet FM1.PeakForceClear, True, True, True, True, True, True
  Wait 10
  FGet FM1.PeakForces, myPeakForces()
  Print myPeakForces (FG_TX), myPeakForces (FG_TY), myPeakForces (FG_TZ)
Fend

See Also
Force Trigger Object FT#, Force Monitor Object FM#