TriggeredForces Status

Application
Force Trigger Object FT#, Force Motion Restriction Object FMR#

Description
Returns force and torque applied when force trigger or force motion restriction conditions are achieved.

Usage
FGet Object.TriggeredForces, rArray()

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

• rArray()
  The number of elements defining the values of the property is an array of 6 or more real number variables

Values
rArray()

Element number	Element number constant	Description
0	FG_FX	Acquires force in Fx direction when force trigger conditions of force and position are achieved.
1	FG_FY	Acquires force in Fy direction when force trigger conditions of force and position are achieved.
2	FG_FZ	Acquires force in Fz direction when force trigger conditions of force and position are achieved.
3	FG_TX	Acquires torque in Tx direction when force trigger conditions of force and position are achieved.
4	FG_TY	Acquires torque in Ty direction when force trigger conditions of force and position are achieved.
5	FG_TZ	Acquires torque in Tz direction when force trigger conditions of force and position are achieved.
6	FG_FMAG	Acquires resultant force Fmag when force trigger conditions of force and position are achieved.
7	FG_TMAG	Acquires resultant torque Tmag when force trigger conditions of force and position are achieved.

Note: When the number of elements is an array of 6 or 7, the element numbers acquired are 0 to 5.

Detailed Explanation
Returns the force and torque applied when the force trigger or force motion restriction conditions are achieved.
Returns “0” for all values when the force trigger or force motion restriction conditions are not achieved.
When multiple force triggers or force motion restriction are combined as described below, each force trigger object or force motion restriction object will retain the force and torque that applied when the given force trigger object conditions were first achieved.

Till FT1 And FMR2

Therefore, when force trigger or force motion restriction objects having different conditions are combined and used, the TriggeredForces status of each object will differ.

Usage Example
The following is an example of acquiring and displaying the force applied when the force trigger is achieved.

Function TriggeredForceTest
  Real rArray(7)
  FCKeep FC1 Till FT1, 10
  FGet FT1.TriggeredForces, rArray()
  Print rArray(FG_FX)
Fend

See Also
Force Trigger Object FT#, Force Motion Restriction Object FMR#