Tx_AvgForce, Ty_AvgForce, Tz_AvgForce Status

Application
Force Monitor Object FM#

Description
This returns the average torque for the specified axis in the direction of rotation.

Usage
FGet Object.XX_AvgForce, rVar

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

• XX
  A character string defining the name of the property

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

Values
XX

Specified Axis	Description
Tx	Specifies X axis in the direction of rotation.
Ty	Specifies Y axis in the direction of rotation.
Tz	Specifies Z axis in the direction of rotation.

Detailed Explanation
XX_AvgForce returns the value of the average torque in the specified axis in the direction of rotation.
Execute AvgForceClear before executing XX_AvgForce. Without executing AvgForceClear, “0” is returned.
If the time between executing AvgForceClear and executing XX_AvgForce is short, a deviation in the force and torque averages will occur. Establish a low-pass filter with a time constant of about 5 times between the AvgForceClear and the XX_AvgForce execution.
There is a time limit on XX_AvgForce. Execute XX_AvgForce within 600 seconds of executing AvgForceClear. When XX_AvgForce is executed after 600 seconds has passed, an error is generated.

Usage Example
This example measures the value of the average torque in the Tx direction.

Function CheckAverageForce
  Double AF
  FSet FC1.Enabled, False, False, False, True, False, False
  FSet FC1.TargetForces, 0, 0, 0, 200, 0, 0
  FSet FS1.Reset
  FSet FM1.CoordinateSystem, FCS0
  FSet FM1.AvgForceClear, False, False, False, True, False, 
                                  False, False, False
  FCKeep FC1, 10
  FGet FM1.Tx_AvgForce, AF
  Print AF
Fend

See Also
Force Monitor Object FM#