RobotLocal Property

Application
Force Monitor object FM#, Force Motion Restriction Object FMR#

Description
Sets or returns the local coordinate system that will serve as the basis for robot position / orientation used for trigger accomplished condition of force motion restriction function recorded by the force monitor function.

Immediate Execution
No

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

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

• iVar
  An integer variable defining the value of the property

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

Values
iValue

	Values
Minimum	0 (default)
Maximum	15

Detailed Explanation
When using this property for force monitor function:
This property is used when setting or checking the local coordinate system that will serve as the basis for robot position / orientation to be recorded.
This property changes the basis used to find robot positions/orientations that will be recorded by the RecordStart property. When “0” is specified, the position/orientation in the Base coordinate system will be recorded.
The position/orientation of the robot recorded by the RecordStart property is recorded by the position/orientation of the tool specified by the RobotTool property in the local coordinate system specified by this property.
It is effective when, for instance, you wish to record positions/orientations based on a workpiece, or when the work reference plane is tilted.
If the coordinate system is changed by the Base, Local, or other statement after this property is set, the coordinate system used with the force function will apply rather than the coordinate system used when this property was set.

When using this property for force motion restriction function:
This property is used when setting or checking the local coordinate system that will serve as the basis for robot positions/orientations that judge the accomplishment condition of set trigger.
The position/orientation of the robot that judge the accomplishment condition of trigger is judged with tool positions/orientations specified by the RobotTool property in the local coordinate system specified by this property. When “0” is specified, the position/orientation in the Base coordinate system will be recorded.
It is effective when, for instance, you want to judge the accomplishment condition of trigger with positions/orientations based on a workpiece, or when the work reference plane is tilted.
If the coordinate system is changed by the Base, Local, or other statement after this property is set, the coordinate system used with the force function will apply rather than the coordinate system used when this property was set.

Usage Example
The following is an example of recording positions with Local 1 as the basis.

Function RobotLocalTest
  FSet FM1.ForceSensor, 1
  FSet FM1.RobotLocal, 1  ' Set Local 1 for RobotLocal.
  FSet FM1.FCMRecordEnd
  FSet FM1.RecordStart, 60, 0.01
  Wait 60
  FSet FM1.FCMRecordEnd
Fend

See Also
Force Monitor object FM#, Force Motion Restriction object FMR#, RecordStart Property