Tmag_LPF_Enabled Property

Application
Force Trigger Object FT#, Force Monitor Object FM#

Description
Activates/inactivates or returns the resultant torque low-pass filter.

Immediate Execution
No

Usage
FGet Object.Tmag_LPF_Enabled, bVar
FSet Object. Tmag_LPF_Enabled, bValue

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

• bVar
  A Boolean variable defining the value of the property

• bValue
  A Boolean value or formula defining the new value of the property

Values
bValue

Name of Constants	Values	Description
False	0	Sets the low-pass filter to inactive. (default)
True	-1	Sets the low-pass filter to active.

Detailed Explanation
Activates/inactivates or returns the resultant torque low-pass filter.
When the low-pass filter is active, signal noise can be reduced, but the following performance for quick signal changes deteriorates.
The low-pass filter is used with AvgForces Status, PeakForces Status, the Force Trigger Function, and Force Monitor, but is not used with Forces Status.

Usage Example
This example sets the resultant torque low-pass filter, and acquires the absolute value of the peak resultant torque.

Function GetPeakForceTest
  Real myPeakForce
  FSet FCS1.Orientation, FG_TOOL
  FSet FM1.CoordinateSystem, FCS1
  FSet FM1.Tmag_Axes, FG_XYZ
  FSet FM1.Tmag_LPF_Enabled, True
  FSet FM1.Tmag_LPF_TimeConstant, 0.02
  FSet FM1.PeakForceClear, True, True, True, True, True, True, True, True
  Wait 10
  FGet FM1.Tmag_PeakForce, myPeakForce
  Print myPeakForce
Fend

See Also
Force Trigger Object FT#, Force Monitor Object FM#