TriggeredJoints Status

Application
Force Motion Restriction Object FMR#

Description
Returns the achievement status for force motion restriction by axis when the object monitored is in the joint position.

Immediate Execution
No

Usage
FGet Object.TriggeredAxes, iVar

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

• iVar
  An integer variable defining the value of the property

Values

Bit	Results
0	Met J1 LowerLevel conditions
1	Met J2 LowerLevel conditions
2	Met J3 LowerLevel conditions
3	Met J4 LowerLevel conditions
4	Met J5 LowerLevel conditions
5	Met J6 LowerLevel conditions
6	Met J7 LowerLevel conditions
7	Met J8 LowerLevel conditions
8	Met J9 LowerLevel conditions
9	Met J1 UpperLevel conditions
10	Met J2 UpperLevel conditions
11	Met J3 UpperLevel conditions
12	Met J4 UpperLevel conditions
13	Met J5 UpperLevel conditions
14	Met J6 UpperLevel conditions
15	Met J7 UpperLevel conditions
16	Met J8 UpperLevel conditions
17	Met J9 UpperLevel conditions

The value of each Bit
0: Not met
1: Met

Detailed Explanation
Returns the achievement status for each axis when force motion restriction was last used when the object monitored was in the joint position.
This sets the corresponding bit for each force motion restriction axis to “1” when conditions are met. If conditions are not met, the corresponding bit is set to “0”.
However, when under the Polarity Property FG_OUT is set, the UpperLevel and LowerLevel are set to “1” or “0”.
When FG_IN is set, both the UpperLevel and LowerLevel are set to “1” when the conditions are met.
This is used to accomplish branch processing based on the met/not met status of position and orientation in each axis.
When a value is acquired for an Integer variable, depending on the met/not met status, there are times when the value is negative. Int32 or Int64 type variables are recommended.

Usage Example
This is an example of branch processing based on the met/not met status of each axis for force motion restriction.

Function TriggeredAxesTest
  Int64 iVar
  FSet FMR1.TriggereMode, FG_ABS_JOINT
  FCKeep FC1 Till FMR1, 10
  FGet FMR1.TriggeredJoint, iVar
  If (iVar And &H01) <> 0 Then
    ' The process when J1 LowerLevel conditions are met
    -
  ElseIf (iVar And &H200) <> 0 Then
    ' The process when J1 UpperLevel conditions are met
    -
  EndIf
Fend

See Also
Force Motion Restriction Object FMR#