Rot_Levels Property

Application
Force Motion Restriction Object FMR#

Description
Set or return the lower threshold value and upper threshold value for rotation angle.

Immediate Execution
No

Usage
FGet Object.Rot_Levels, rArray()
FSet Object.Rot _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
rArray()

Element number	Element number constant
0	FG_ LOWERLEVEL
1	FG_ UPPERLEVEL

rValueL (Unit: [Degree])

	Value
Minimum	0 (default)
Maximum	180

rValueU (Unit: [Degree])

	Value
Minimum	0
Maximum	180 (default)

Detailed Explanation
Rot_Levels set or return the lower threshold value and upper threshold value for rotation angle.
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 rotation angle is less than the lower threshold value or more than the upper threshold value.

Function SettingLevels
  FSet FMR1.Rot_Enabled, True
  FSet FMR1.Rot_Polarity, FG_OUT
  FSet FMR1.Rot_Levels, 0, 10
  Trap 1, FMR1 Call ForceError
Fend

Function ForceError
  AbortMotion All
Fend

See Also
Force Motion Restriction Object FMR#