Tx_Polarity, Ty_Polarity, Tz_Polarity Property

Application
Force Trigger Object FT#

Description
This returns the status of or sets whether the force trigger is triggered when the value in the specified axis in the direction of rotation is within the thresholds or when the value in the specified axis in the direction of rotation is outside of the thresholds.

Immediate Execution
No

Usage
FGet Object.XX_Polarity, iVar
FSet Object.XX_Polarity, iValue

• 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

• iVar
  An integer variable defining the value of the property

• iValue
  An integer 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.

iValue

Name of Constants	Values	Description
FG_OUT	0	Triggered when value is not within upper and lower thresholds. (default)
FG_IN	1	Triggered when value is within upper and lower thresholds.

Detailed Explanation
XX_Polarity returns the status of or sets whether the force trigger is triggered when the value in the specified axis in the direction of rotation is within the thresholds or when the value in the specified axis in the direction of rotation is outside of the thresholds.

Usage Example
This example generates an error and stops the robot if the Tx torque is greater than the upper threshold or lower than the lower threshold.

Function SettingPolarity
  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#