UpperLevels Property

Application
Force Trigger Object FT#

Description
This sets or returns the value of the upper threshold for force and torque on each axis at the same time.

Immediate Execution
No

Usage
FGet Object.UpperLevels, rArray()
FSet Object.UpperLevels, rValueFx, rValueFy, rValueFz, rValueTx, rValueTy, rValueTz [,rValueFmag ,rValueTmag]

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

• rArray()
  The number of elements defining the values of the property is an array of 8 or more real number variables

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

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

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

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

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

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

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

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

Values
rArray()

Element number	Element number constant	Description
0	FG_FX	Acquires the upper threshold for Fx force.
1	FG_FY	Acquires the upper threshold for Fy force.
2	FG_FZ	Acquires the upper threshold for Fz force.
3	FG_TX	Acquires the upper threshold for Tx torque.
4	FG_TY	Acquires the upper threshold for Ty torque.
5	FG_TZ	Acquires the upper threshold for Tz torque.
6	FG_FMAG	Acquires the upper threshold for Fmag resultant force.
7	FG_TMAG	Acquires the upper threshold for Tmag resultant torque.

Note: When the number of elements is an array of 6 or 7, the element numbers acquired are 0 to 5.

rValueFx, rValueFy, rValueFz (Unit: [N])

	Values
Minimum	-1000
Maximum	1000 (default)

rValueTx, rValueTy, rValueTz (Unit: [N·mm])

	Values
Minimum	-100000
Maximum	100000 (default)

rValueFmag (Unit: [N])

	Values
Minimum	0
Maximum	1000 (default)

rValueTmag (Unit: [N·mm])

	Values
Minimum	0
Maximum	100000 (default)

Detailed Explanation
UpperLevels sets or returns the value of the upper threshold for force and torque on each axis at the same time.
Be sure that LowerLevels < UpperLevels.
Since all force upper threshold values for each axis are set at one time, it can be done with fewer lines than setting them one axis at a time.
This is used for error checking and task completion conditions.

Usage Example
This example generates an error and stops the robot when the force is greater than the upper threshold.

Function SettingLevels
  FSet FT1.Enabled, True, True, True, True, True, True, True, True
  FSet FT1.Polarities, FG_OUT, FG_OUT, FG_OUT, FG_OUT, FG_OUT, FG_OUT, FG_OUT, FG_OUT
  FSet FT1.UpperLevels, 50, 50, 50, 3000, 3000, 3000, 50, 3000
  Trap 1, FT1 Call ForceError
Fend

Function ForceError
  AbortMotion All
Fend

See Also
Force Trigger Object FT#