Tx_Enabled, Ty_Enabled, Tz_Enabled Property

Application
Force Control Object FC#, Force Trigger Object FT#

Description
This activates/inactivates, or returns the force control function of the rotational direction.

Immediate Execution
No

Usage
FGet Object.XX_Enabled, bVar
FSet Object. XX_Enabled, bValue

• Object
  Object name

• XX
  A character string defining the name of the property

• bVar
  A Boolean variable defining the value of the property

• bValue
  A Boolean value or formula defining the new 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.

bValue

Name of Constants	Values	Description
False	0	Inactivates the subject axis. (default)
True	-1	Activates the subject axis.

Detailed Explanation
This activates/inactivates, or returns the force control function of the rotational direction.
For SCARA robots (including RS series), the force control cannot be executed with the FC object when the following properties are “True”.
Tx_Enabled property
Ty_Enabled property

Usage Example
This example activates the force control function for the torque in the Z axis for the Force Trigger Object.

> FSet FT1.Tz_Enabled, True

See Also
Force Control Object FC#, Force Trigger Object FT#