Position Property

Application
Force Coordinate System Object FCS#

Description
This sets the position of the origin in the force coordinate system for the selected tool coordinate system.

Immediate Execution
No

Usage
FGet Object.Position, rArray()
FSet Object.Position, rValueX, rValueY, rValueZ

• 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 3 or more real number variables

• rValueX
  A real number or formula defining the new value of the property

• rValueY
  A real number or formula defining the new value of the property

• rValueZ
  A real number or formula defining the new value of the property

Values
rArray()

Element number	Element number constant	Description
0	FG_X	Acquires the position in the X direction of the force coordinate system for the selected tool coordinate system.
1	FG_Y	Acquires the position in the Y direction of the force coordinate system for the selected tool coordinate system.
2	FG_Z	Acquires the position in the Z direction of the force coordinate system for the selected tool coordinate system.

rValueX, rValueY, rValueZ (Unit: [mm])

	Values
Minimum	-2000
Maximum	2000

Default: 0

Detailed Explanation
This sets the position of the force coordinate system in the tool coordinate system being used using the tool center point as the datum.
When the datum coordinate system is changed via the Tool or TLSet statements after the Position property are set, the coordinate system established when setting the Position property is not used, but the coordinate system used when using the force function is applied.

Usage Example
This is an example of a simple motion program using Position.

Function PositonTest
  Double ForceValue(8)
  FSet FCS1.Position, 100, 0, 0    ' Sets the position
  FSet FCS1.Orientation, FG_TOOL   ' Sets the direction

  FSet FM1.CoordinateSystem, FCS1  ' Specifies the force coordinate data
  FSet FM1.ForceSensor, FS1        ' Sets the number of the force sensor to be used

  Tool 1                           ' Selects Tool1
  FGet FM1.Forces, ForceValue()    ' Acquires sensor reading for the X:100 position of Tool1

  Tool 2                           ' Selects Tool2
  FGet FM1.Forces, ForceValue()    ' Acquires sensor reading for the X:100 position of Tool2
Fend

See Also
Force Coordinate System Object FCS#