Tmag_Polarity Property

Application
Force Trigger Object FT#

Description
Sets or returns for resultant torque whether the force trigger is activated or inactivated when values correspond to or do not correspond with threshold values.

Immediate Execution
No

Usage
FGet Object.Tmag_Polarity, iVar
FSet Object.Tmag_Polarity, iValue

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

• iVar
  An integer variable defining the value of the property

• iValue
  An integer value or formula defining the new value of the property

Values
iValue

Name of Constants	Values	Description
FG_OUT	0	Triggered when value is not within upper and lower thresholds. (default)
FG_IN	1	Triggered when value is within upper and lower thresholds.

Detailed Explanation
Tmag_Polarity returns the status of or sets whether the force trigger is triggered by the value of the resultant torque being either within the thresholds or outside of the thresholds.

Usage Example
This example generates an error and stops the robot when the resultant torque is greater than the upper threshold or lower than the lower threshold.

Function SettingPolarity
  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#