PosPolarities Property

Application
Force Motion Restriction Object FMR#

Description
This returns the status of or sets whether the force motion restriction is activated for position of each axis, movement distance and rotation angle by the value being either within the thresholds or outside of the thresholds.

Immediate Execution
No

Usage
FGet Object.PosPolarities, iArray()
FSet Object.PosPolarities, iValuePosX, iValuePosY, iValuePosZ, iValueDist, iValueRot

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

• iArray()
  The number of elements defining the values of the property is an array of 5 or more real number variables

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

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

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

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

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

Values
iArray()

Element number	Element number constant	Description
0	FG_X	This returns the status of or sets whether the force motion restriction is activated for position of X axis by the value being either within the thresholds or outside of the thresholds.
1	FG_Y	This returns the status of or sets whether the force motion restriction is activated for position of X axis by the value being either within the thresholds or outside of the thresholds.
2	FG_Z	This returns the status of or sets whether the force motion restriction is activated for position of Z axis by the value being either within the thresholds or outside of the thresholds.
3	FG_Dist	This returns the status of or sets whether the force motion restriction is activated for position of movement distance by the value being either within the thresholds or outside of the thresholds.
4	FG_Rot	This returns the status of or sets whether the force motion restriction is activated for position of rotation angel by the value being either within the thresholds or outside of the thresholds.

iValuePosX, iValuePosY, iValuePosZ, iValueDist, iValueRot (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
PosPolarities return the status of or set whether the force motion restriction is activated for position of each axis, movement distance and rotation angle by the value being either within the thresholds or outside of the thresholds.
Since all force and torque lower threshold values for position of each axis, movement distance and rotation angel are set at one time, it can be done with fewer lines than setting them one axis at a time.

Usage Example
This example generates an error and stops the robot if position, movement distance and rotation angle is more than the upper threshold value or less than the lower threshold value.

Function SettingPolarities
  FSet FMR1.PosEnabled, True, True, True, True, True
  FSet FMR1.PosPolarities, FG_OUT, FG_OUT, FG_OUT, FG_OUT, FG_OUT
  FSet FMR1.PosLowerLevels, -100, -100, -100, 0, 0
  FSet FMR1.PosUpperLevels, 100, 100, 100, 100, 100
  Trap 1, FMR1 Call ForceError
Fend

Function ForceError
  AbortMotion All
Fend

See Also
Force Motion Restriction Object FMR#