Polarities Property

Application
Force Trigger Object FT#

Description
This returns the status of or sets whether the force trigger is triggered for each axis by the value being either within the thresholds or outside of the thresholds.

Immediate Execution
No

Usage
FGet Object.Polarities, iArray()
FSet Object.Polarities, iValueFx, iValueFy, iValueFz, iValueTx, iValueTy, iValueTz [, iValueFmag, iValueTmag]

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

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

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

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

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

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

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

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

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

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

Values
iArray()

Element number	Element number constant	Description
0	FG_FX	Returns whether the Fx force trigger is triggered by values within or outside of the threshold values.
1	FG_FY	Returns whether the Fy force trigger is triggered by values within or outside of the threshold values.
2	FG_FZ	Returns whether the Fz force trigger is triggered by values within or outside of the threshold values.
3	FG_TX	Returns whether the Tx force trigger is triggered by values within or outside of the threshold values.
4	FG_TY	Returns whether the Ty force trigger is triggered by values within or outside of the threshold values.
5	FG_TZ	Returns whether the Tz force trigger is triggered by values within or outside of the threshold values.
6	FG_FMAG	Returns whether the Fmag resultant force trigger is triggered by values within or outside of the threshold values.
7	FG_TMAG	Returns whether the Tmag resultant torque trigger is triggered by values within or outside of the threshold values.

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

iValueFx, iValueFy, iValueFz, iValueTx, iValueTy, iValueTz, iValueFmag, iValueTmag (Unit: Number)

Name of Constants	Values	Description
FG_OUT	0	Sets to active when over or under the upper and lower threshold values, respectively. (default)
FG_IN	1	Sets to active when within the upper threshold and lower threshold values.

Detailed Explanation
Polarities returns the status of or sets whether the force trigger is triggered for each axis by the value being either within the thresholds or outside of the thresholds.
When setting the trigger for each axis at the same time, this allows one to set all of them with fewer lines than setting them 1 axis at a time.

Usage Example
This example will generate an error and stop the robot if force, torque, resultant force or resultant torque is above the upper threshold or below the lower threshold.

Function SettingPolarities
  FSet FT1.Enabled, True, True, True, True, True, True, True, True
  FSet FT1.Polarities, FG_OUT, FG_OUT, FG_OUT, FG_OUT, FG_OUT, FG_OUT,FG_OUT, FG_OUT
  FSet FT1.LowerLevels, -50, -50, -50, -3000, -3000, -3000, 0, 0
  FSet FT1.UpperLevels, 50, 50, 50, 3000, 3000, 3000, 50, 3000
  Trap 1, FT1 Call ForceError
Fend

Function ForceError
  AbortMotion All
Fend

See Also
Force Trigger Object FT#