Tmag_Levels Property

Application
Force Trigger Object FT#

Description
Sets or returns the upper and lower threshold values for resultant torque.

Immediate Execution
No

Usage
FGet Object.Tmag_Levels, rArray()
FSet Object.Tmag_Levels, rValueL, rValueU

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

• 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: [N·mm])

	Values
Minimum	0 (default)
Maximum	100000

rValueU (Unit: [N·mm])

	Values
Minimum	0
Maximum	100000 (default)

Detailed Explanation
Tmag_Levels sets or returns the value of the lower and upper thresholds for resultant torque.
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 resultant torque is lower than the lower threshold or higher than the upper threshold.

Function SettingLevels
  FSet FT1.Enabled, False, False, False, False, False, False, False, True
  FSet FT1.Tmag_Polarity, FG_OUT
  FSet FT1.Tmag_Levels, 0, 3000
  Trap 1, FT1 Call ForceError
Fend

Function ForceError
  AbortMotion All
Fend

See Also
Force Trigger Object FT#