PeakForces Status

Application
Force Monitor Object FM#

Description
Returns the values of peak / minimum / maximum force and torque simultaneously. The minimum values and the maximum values can be omitted.

Usage
FGet Object.PeakForces, rArrayPeak()
FGet Object.PeakForces, rArrayPeak(), rArrayMin(), rArrayMax()

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

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

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

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

Values
rArrayPeak()

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

rArrayMin()

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

rArrayMax()

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

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

Detailed Explanation
PeakForces returns values of peak / minimum / maximum force and torque simultaneously while executing PeakForceClear and then PeakForces. The peak values are the maximum absolute value with a sign. The minimum values include a sign. The maximum values include a sign.
Be sure to execute PeakForceClear before executing PeakForces.

Usage Example
This example returns the value of the peak force in the Fx direction.

Function CheckPeakForces
  Double PF(7)
  FSet FC1.Enabled, True, False, False, False, False, False
  FSet FC1.TargetForces, 10, 0, 0, 0, 0, 0
  FSet FS1.Reset
  FSet FM1.CoordinateSystem, FCS0
  FSet FM1.PeakForceClear, True, False, False, False, False,
                                  False, False, False
  FCKeep FC1, 10
  FGet FM1.PeakForces, PF()
  Print PF(FG_FX)
Fend

See Also
Force Monitor Object FM#