Tmag_AvgForce Status

Application
Force Monitor Object FM#

Description
Returns average resultant torque.

Usage
FGet Object.Tmag_AvgForce, rVar

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

• rVar
  A real number variable defining the value of the property

Detailed Explanation
Tmag_AvgForce returns the average value of the resultant torque.
Before executing Tmag_AvgForce, be sure to execute AvgForceClear. If AvgForceClear is not executed, “0” is returned.
When the time from executing AvgForceClear to executing Tmag_AvgForce is short, a deviation in the average force and torque is generated. When LowPassFilter is used, set the time about 5 times the LowPassFilter time constant between AvgForceClear and Tmag_AvgForce execution.
There is a time limit on Tmag_AvgForce. Execute Tmag_AvgForce within 600 seconds of executing AvgForceClear. When Tmag_AvgForce is executed after 600 seconds has passed, an error is generated.

Usage Example
This example measures the average value of the resultant torque.

Function CheckAverageForce
  Double AF
  FSet FC1.Enabled, False, False, False, True, False, False
  FSet FC1.TargetForces, 0, 0, 0, 200, 0, 0
  FSet FS1.Reset
  FSet FM1.CoordinateSystem, FCS0
  FSet FM1.AvgForceClear, False, False, False, False, False, False, False, True
  FCKeep FC1, 10
  FGet FM1.Tmag_AvgForce, AF
  Print AF
Fend

See Also
Force Monitor Object FM#