2.5.4. _F*

Description	Current force sensor data A read-only variable
Input	To enter a conditional statement → 『[F1]: Variable』 → 『[F6]: System』 → 『F*』→ . → 『[F1]–[F6]』
Variable type	_F*.X	X-directional force on the reference coordinate system [N]
	_F*.Y	Y-directional force on the reference coordinate system [N]
	_F*.Z	Z-directional force on the reference coordinate system [N]
	_F*.Rx	X-directional torque of the reference coordinate system [Nm]
	_F*.Ry	Y-directional torque of the reference coordinate system [Nm]
	_F*.Rz	Z-directional torque of the reference coordinate system [Nm]
Example	WAIT _F*.X>=500		Wait until the X-directional force exceeds 500 N.
	MOVE L,S=3mm/s,A=1,T=0 UNTIL _F*.Y>=20		MOVE execution stops when the Y-direction force exceeds 20 N.
	IF _F*.Rz>=-10.0 THEN 3 ELSE 5		If the Z-directional torque is bigger or smaller than -10 Nm, move to line No.3 or line No.5, respectively.
Note	§ The reference coordinate system of _F* is the coordinate system (CRD) set when entering the Force Ctrl command.