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<strong>ICAM</strong> <strong>Virtual</strong> <strong>Machine</strong> ® <strong>Virtual</strong> <strong>Machine</strong> Reference, Model Customization<br />
Simulation Macro Functions, <strong>Virtual</strong> <strong>Machine</strong> Probe and Collision Test Functions<br />
The $FMSPRID Function<br />
result=$FMSPRID([id])<br />
Returns: Numeric<br />
This function sets the touch probe object to the specified component id, which can be any<br />
component in the world (excluding in-process stock) that has a physical representation. This<br />
function returns the previously active probe object id. Specify an object id of -1 to deactivate the<br />
current probe object without specifying another.<br />
The $FMSPRID function can be called without an argument to obtain the current probe component<br />
id.<br />
The $FMSPROB Function<br />
result=$FMSPROB([status])<br />
Returns: Numeric<br />
This function activates or deactivates probing, returning the previous probe activation status. The<br />
following values for status are permitted:<br />
0 Deactivate probing; contact with probe will cause a collision<br />
1 Activate probing; probe is armed<br />
2 Deactivate probing; ignore contact with probe<br />
The $FMSPROB function can be called without an argument to obtain the current probe component<br />
id.<br />
Once the probe is active, any motion that causes contact between the probe object (which must<br />
first be defined first using $FMSPRID) and another collision enabled object, will cause a probe<br />
event to be triggered. The model axes motion will be interrupted at the point of probe contact,<br />
and the probe status information will be returned in the $VMPRCOD system variable.<br />
The following example will close the chuck jaws so that they come into contact with the raw<br />
stock or part. This example assumes there is a chuck jaw identified as “JAW” and that it can be<br />
moved with an axis identified as “JAW-AXIS”. This code should be included in the model<br />
startup macro:<br />
JAW_ID=$FMSID('JAW')<br />
IF/JAW_ID.GT.0<br />
OK=$FMSPRID(JAW_ID) $$ set jaws as probe<br />
OK=$FMSPROB(1) $$ activate probing<br />
OK=$FMSMOVE($FMSID('JAW-AXIS'),0,1000) $$ close jaws<br />
CASE/$VMPRCOD<br />
WHEN/0<br />
ERROR/4,'No part in chuck'<br />
WHEN/1<br />
$$ get touched object and disable collision with jaw<br />
S=$FMSPDAT($VMXFER(6),$VMXFER(7))<br />
OK=$FMSVCL(JAW_ID,OFF,S(4))<br />
198 <strong>ICAM</strong> Technologies Corporation – Proprietary
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