PosX_Polarity, PosY_Polarity, PosZ_Polarity 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 specified axis by the value being either within the thresholds or outside of the thresholds.

Immediate Execution
No

Usage
FGet Object.XX_Polarity, iVar
FSet Object.XX_Polarity, iValue

• 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

• iVar
  An integer variable defining the value of the property

• iValue
  An integer value 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.

iValue

Name of Constants	Values	Description
FG_OUT	0	Activates when the value is outside of the thresholds. (default)
FG_IN	1	Activates when the value is within the thresholds.

Detailed Explanation
XX_Polarity return the status of or set whether the force motion restriction is activated for position of specified axis by the value being either within the thresholds or outside of the thresholds.

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 SettingPolarity
  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#