Orientation Property

Application
Force Coordinate System Object FCS#

Description
This sets or returns the orientation of the coordinate axis in the force coordinate system.
The local coordinate system number is only set when Local is selected for the coordinate axis.
u, v, and w can be set only when “Custom” is selected for the coordinate axis.

Immediate Execution
No

Usage
FGet Object.Orientation, rArray()
FSet Object.Orientation, iValue
FSet Object.Orientation, iValue, iValueL
FSet Object.Orientation, iValue, rValueU, rValueV, rValueW

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

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

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

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

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

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

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

Values
rArray

Element number	Element number constant	Description
0	FG_CRD_SYS	Coordinate system
1	FG_LOCAL_NO	Local coordinate number
2	-	-
3	FG_U	The relative FG_CUSTOM orientation for the U axis rotation amount
4	FG_V	The relative FG_CUSTOM orientation for the V axis rotation amount
5	FG_W	The relative FG_CUSTOM orientation for the W axis rotation amount

iValue

Name of Constants	Values	Description
FG_BASE	0	Defines the direction of the base coordinate system
FG_LOCAL	1	Defines the direction of the local coordinate system
FG_TOOL	2 (default)	Defines the direction of the tool coordinate system
FG_CUSTOM	3	Defines the direction of the custom coordinate system

iValueL

	Values
Minimum	0 (default)
Maximum	15

rValueU, rValueV, rValueW

	Values
Minimum	-360
Maximum	360

Default: 0

Detailed Explanation
Sets or returns the orientation of the force coordinate coordinate-axis.
The first argument, “iValue”, sets the coordinate system.

• FG_BASE
  The direction of the axis for the base coordinate system is set in the force coordinate system.
• FG_LOCAL
  The direction of the axis for the local coordinate system is set in the force coordinate system. In this case, the number for the local coordinate system is set as the second argument.
• FG_TOOL
  The direction of the axis for the tool coordinate system is set in the force coordinate system.
• FG_CUSTOM
  The direction of the axis for the coordinate system set off of the tool coordinate system as the datum is set in the force coordinate system.
  The relative orientation modification amount for U, V, and W axes from the tool coordinate system are set for the 2nd to 4th arguments.

FG_BASE and FG_LOCAL become the stationary coordinate systems for the direction of the axes during motions.
FG_TOOL and FG_CUSTOM become dynamic coordinate systems for robot orientation modification as well as for the direction of the axes during motion.

The datum for all coordinate system is the coordinate system used when using the force control function, the force trigger function, or force monitor function.
After setting the Orientation property, should the coordinate system serving as the datum for the Base, Local, and Tool statements be changed, the coordinate system established when setting the Orientation property is not used, but the coordinate system used when using the force function is applied.

Usage Example
This example sets the origin and coordinate axes for force coordinate 1, then sets force coordinate 1 as the Force Monitor Object, and acquires the force data.

Function GetForces
  Real myForces(8)
  FSet FCS1.Position, 0, 0, 100
  FSet FCS1.Orientation, FG_TOOL
  FSet FM1.CoordinateSystem, FCS1
  FGet FM1.Forces, myForces()
  Print myForces(FG_TX), myForces(FG_TY), myForces(FG_TZ)
Fend

See Also
Force Coordinate System Object FCS#