PosX_Levels, PosY_Levels, PosZ_Levels Property

Application
Force Motion Restriction Object FMR#

Description
This sets or returns the lower threshold value and upper threshold value for position of specified axis.

Immediate Execution
No

Usage
FGet Object.XX_Levels, rArray()
FSet Object.XX_Levels, rValueL, rValueU

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

• XX
  A character string defining the name of the property

• rArray()
  The number of elements defining the values of the property is an array of 2 or more real number variables

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

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

Values
XX

Specified Axis	Description
PosX	Specifies X axis.
PosY	Specifies Y axis.
PosZ	Specifies Z axis.

rArray()

Element number	Element number constant
0	FG_ LOWERLEVEL
1	FG_ UPPERLEVEL

rValueL (Unit: [mm])

	Values
Minimum	-20000 (default)
Maximum	20000

rValueU (Unit: [mm])

	Values
Minimum	-20000
Maximum	20000 (default)

Detailed Explanation
XX_Levels set or return the lower threshold value and upper threshold value for position of specified axis.
rValueL is the lower threshold. rValueU is the upper threshold. Be sure that rValueL < rValueU.
This is used for error checking and task completion conditions.

Usage Example
This example generates an error and stops the robot if the position of X axis orientation is less than the lower threshold value or more than the upper threshold value.

Function SettingLevels
  FSet FMR1.PosEnabled, True, False, False, False, False
  FSet FMR1.PosX_Polarity, FG_OUT
  FSet FMR1.PosX_Levels, -500, 500
  Trap 1, FMR1 Call ForceError
Fend

Function ForceError
  AbortMotion All
Fend

See Also
Force Motion Restriction Object FMR#