PosUpperLevels Property

Application
Force Motion Restriction Object FMR#

Description
This sets or returns the upper threshold value of position of each axis, movement distance and rotation angle at the same time.

Immediate Execution
No

Usage
FGet Object.PosUpperLevels, rArray()
FSet Object.PosUpperLevels, rValuePosX, rValuePosY, rValuePosZ, rValueDist, rValueRot

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

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

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

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

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

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

• rValueRot
  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 upper threshold value for position of X axis.
1	FG_Y	Acquires the upper threshold value for position of Y axis.
2	FG_Z	Acquires the upper threshold value for position of Z axis.
3	FG_Dist	Acquires the upper threshold value for movement distance.
4	FG_Rot	Acquires the upper threshold value for rotation angel.

rValuePosX, rValuePosY, rValuePosZ (Unit: [mm])

	Values
Minimum	-20000
Maximum	20000 (default)

rValueDist (Unit: [mm])

	Values
Minimum	0
Maximum	20000 (default)

rValueRot (Unit: [Degree])

	Values
Minimum	0
Maximum	180 (default)

Detailed Explanation
PosUpperLevels set or return the upper threshold value of position of each axis, movement distance and rotation angle at the same time.
Be sure that PosLowerLevels < PosUpperLevels.
Since all force and torque upper threshold values for position of each axis, movement distance and rotation angle are set at one time, it can be done with fewer lines than setting them one axis at a time.
This is used for error checking and task completion conditions.

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.

Function SettingLevels
  FSet FMR1.PosEnabled, True, True, True, True, True
  FSet FMR1.PosPolarities, FG_OUT, FG_OUT, FG_OUT, FG_OUT, FG_OUT
  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#