Tx_Force, Ty_Force, Tz_Force Status

Application
Force Monitor Object FM#

Description
This returns torque data for the specified axis.

Usage
FGet Object.XX_Force, 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
This property is used to confirm the torque data for the specified axis of the force coordinate system specified by the CoordinateSystem.

Usage Example
This example establishes the force coordinate system 1 for the Force Monitor Object, and acquires the X axis torque data.

Function Test_Tx_Force
  Real rVar
  FSet FCS1.Position, 0, 0, 100
  FSet FCS1.Orientation, FG_TOOL
  FM1.ForceSensor, 1
  FSet FM1.CoordinateSystem, FCS1
  FGet FM1.Tx_Force, rVar
  Print rVar
Fend

See Also
Force Monitor Object FM#