Tx_Levels, Ty_Levels, Tz_Levels Property

Application
Force Trigger Object FT#

Description
This sets or returns the values of the lower and upper thresholds for torque in the specified axis in the direction of rotation.

Immediate Execution
No

Usage
FGet Object.XX_Levels, rArray()
FSet Object.XX_Levels, rValueL, rValueU

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

• XX
  A character string defining the name of the property

• rArray()
  The number of elements defining the values of the property is an array of 2 or more real number variables

• rValueL
  A real number or formula defining the new value of the property.

• rValueU
  A real number 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.

rArray()

Element number	Element number constant
0	FG_ LOWERLEVEL
1	FG_ UPPERLEVEL

rValueL (Unit: [N·mm])

	Values
Minimum	-100000 (default)
Maximum	100000

rValueU (Unit: [N·mm])

	Values
Minimum	-100000
Maximum	100000 (default)

Detailed Explanation
XX_Levels sets or returns the lower and upper torque threshold values for the specified axis in the direction of rotation.
rValueL is the lower threshold. rValueU is the upper threshold. Be sure that rValueL < rValueU.
This is used for error checking and task completion conditions.

Usage Example
This example generates an error and stops the robot when the Tx torque is below or above the lower or upper thresholds, respectively.

Function SettingLevels
  Set FT1.Enabled, False, False, False, True, False, False, False, False
  FSet FT1.Tx_Polarity, FG_OUT
  FSet FT1.Tx_Levels, -5000, 5000
  Trap 1, FT1 Call ForceError
Fend

Function ForceError
  AbortMotion All
Fend

See Also
Force Trigger Object FT#