LPF_TimeConstants Property

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

Description
This sets or returns the value of the low-pass filter time constants applied to each axis in the force coordinate system at the same time.

Immediate Execution
No

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

• Object Object name
  The object is specified as FT (numerical value), FT (label), FM (numerical value), or FM (label).
• rArray()
  The element numbers defining the value of the property is and array of 6 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	This is the Fx low-pass filter time constant.
1	FG_FY	This is the Fy low-pass filter time constant.
2	FG_FZ	This is the Fz low-pass filter time constant
3	FG_TX	This is the Tx low-pass filter time constant.
4	FG_TY	This is the Ty low-pass filter time constant.
5	FG_TZ	This is the Tz low-pass filter time constant.
6	FG_FMAG	This is the Fmag resultant force low-pass filter time constant.
7	FG_TMAG	This is the Tmag resultant torque low-pass filter time constant.

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

rValueFx, rValueFy, rValueFz, rValueTx, rValueTy, rValueTz, rValueFmag, rValueTmag
(Unit: [sec])

	Values
Minimum	0.002
Maximum	5

Default: 0.01

Detailed Explanation
This sets or returns the value of the low-pass filter time constants applied to each axis in the force coordinate system at the same time.
It sets the following time constant settings.

rValueFx: Fx		rValueFy: Fy		rValueFz: Fz
rValueTx: Fx		rValueTy: Ty		rValueTz: Tz
rValueFmag: Fmag			rValueTmag: Tmag

The low-pass filter time constant is the time it takes to arrive at an input value of 1-e^-1 (approximately 63.2%) when giving step input.
The signal noise reduction can be enhanced when increasing the time constant, but the following performance for quick signal changes deteriorates.
The low-pass filter is used with AvgForces Status, PeakForces Status, the Force Trigger Function, and 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#