PeakForces Result

Description
Returns the peak values of force and torque during execution of a force guide object or force guide sequence.

Usage
FGGet Sequence.PeakForces, rArray()
FGGet Sequence.Object.PeakForces, rArray()

• Sequence
  Force guide sequence name or string variable representing force guide sequence name

• Object
  Force guide object name or string variable representing force guide object name. Omitted when a result of a force guide sequence is acquired.

• rArray
  Real array variable with six or more elements showing returned values

Values
rArray()

Element number	Element number constant	Description
0	FG_FX	Acquires the peak value of force in Fx direction during execution of a force guide sequence or force guide object.
1	FG_FY	Acquires the peak value of force in Fy direction during execution of a force guide sequence or force guide object.
2	FG_FZ	Acquires the peak value of force in Fz direction during execution of a force guide sequence or force guide object.
3	FG_TX	Acquires the peak value of torque in Tx direction during execution of a force guide sequence or force guide object.
4	FG_TY	Acquires the peak value of torque in Ty direction during execution of a force guide sequence or force guide object.
5	FG_TZ	Acquires the peak value of torque in Tz direction during execution of a force guide sequence or force guide object.

Detailed Explanation
Returns the peak values of force and torque during execution of a force guide object or force guide sequence.
Peak value is the largest absolute value of the force and torque during execution of a force guide object or a force guide sequence.
If the number of elements in a specified array variable is less than six, returns force and torque in each direction for the defined element numbers. Also, if the number of elements in the array variable exceeds six, returns force and torque in each direction from element number 0 to 5, while making no change to element number 6 and above.

Usage Example
The following is an example of a simple program that acquires a result with FGGet.

Function PeakForceTest
  Double dArray(6)

  Motor On

  FGRun Sequence1
  FGGet Sequence1.Contact01.PeakForces, dArray()  ' Acquisition of PeakForces
  Print dArray(FG_FX)

Fend

See Also
FGGet Statement , General Purpose Sequence Result , Contact Object Result , Relax Object Result , FollowMove Object Result , SurfaceAlign Object Result , PressProbe Object Result , ContactProbe Object Result , Press Object Result , PressMove Object Result , Paste Sequene Result , Paste Object Result , ScrewTighten Sequence Result , ScrewRetighten Object Result , ScrewTighten Object Result , HeightInspect Sequence Result , HeightInspect Object Result , Insert Sequence Result , Insert Object Result , TensileTest Object Result