Features
This function checks the status of the given force. It disregards the force direction and only compares the sizes. This condition can be repeated with the while or if statement. Measuring the force, eForceAxis is based on the ref coordinate(eTargetRef) and measuring the moment, eForceAxis is based on the tool coordinate.
Parameter
|
Parameter Name |
Data Type |
Default Value |
Description |
|
eForceAxis |
enum.FORCE_AXIS |
- |
Refer to the Definition of Constant and Enumeration Type |
|
fTargetMin |
float |
- |
Minimum value |
|
fTargetMax |
float |
- |
Maximum value |
|
eForceReference |
enum.COORDINATE_SYSTEM |
COORDINATE_SYSTEM_TOOL |
Refer to the Definition of Constant and Enumeration Type |
Return
|
Value |
Description |
|
1 |
The condition is True |
|
0 |
The condition is False |
Example
C++
bool fcon1 = Drfl.check_force_condition(FORCE_AXIS_Z, 5, 10, COORDINATE_SYSTEM_WORLD);
bool fcon2;
bool pcon1;
while(true){
fcon2 = Drfl.check_force_condition(FORCE_AXIS_C, 30, -10000);
pcon1 = Drfl.check_position_condition_abs(FORCE_AXIS_X, 0, 0.1);
if(fcon2 && pcon1)
{
break;
}
}