Tmag_LPF_TimeConstant Property

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

Description
This sets or returns the value of the time constant for the low-pass filter applied to resultant torque.

Immediate Execution
No

Usage
FGet Object.Tmag_LPF_TimeConstant, rVar
FSet Object.Tmag_LPF_TimeConstant, rValue

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

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

• rValue
  A real number or formula defining the new value of the property

Values
rValue (Unit: [sec])

	Values
Minimum	0.002
Maximum	5

Default: 0.01

Detailed Explanation
This sets the time constant for the resultant torque low-pass filter.
The low-pass filter time constant is the time it takes to arrive at an input value of 1-e^-1 (approximately 63.2%) when giving step input.
The signal noise reduction can be enhanced when increasing the time constant, 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#