Tmag_Force Status

Application
Force Monitor Object FM#

Description
This returns the resultant torque.

Usage
FGet Object.Tmag_Force, 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_Force returns the resultant torque for the subject axes specified in Tmag_Axes in the force coordinate system specified by the CoordinateSystem.

Usage Example
This example acquires the resultant torque in the X and Y axes within the specified force coordinate system.

Function Test_Tmag_Force
  Real rVar
  FSet FCS1.Position, 0, 0, 100
  FCS1.Orientation, FG_TOOL
  FSet FM1.ForceSensor, 1
  FSet FM1.CoordinateSystem, FCS1
  FSet FM1.Tmag_Axes, FG_XY
  FGet FM1.Tmag_Force, rVar
  Print rVar
Fend

See Also
Force Monitor Object FM#