Execute a force guide sequence using the SPEL+ language

You can call up and execute the adjusted force guide sequence by using FGRun statement from SPEL+ language.
The following is an example to add FGRun statement. Add to the following example.
Using the SPEL+ Language to Create Motions Prior to Starting Force Control Function

Function main
  Motor On
  Go P1          'Go to the start position
  FGRun MyFGSeq  'Execute the created force guide sequence
Fend

Execute it as the whole SPEL+ programming including the force guide sequences.
If there is an error in the force guide sequence, return to
Adjust While Executing Test
You can adjust it while executing as the whole SPEL+ programing.
An error may occur when executing the sequence as the whole SPEL+ programing even though the operations are normal when performing the test execution of the single force guide sequence. In that case, you need to adjust the sequence as the whole SPEL+ programing.
Executed results can be acquired as results of force guide sequence or force guide object. Result has force or position at the end of the operation and success/failure.
The following is an example to execute a force guide sequence and acquire the force when the sequence ends.

Function main
  Double dEndForce (6)
  Motor On
  Go P1                                 'Go to the start position
  FGRun MyFGSeq                         'Execute the created force guide sequence
  FGGet MyFGSeq.EndForces, dEndForce()  'Acquire the force when the force guide sequence ends.
Fend

For more details on FGRun, FGGet, and results, refer to the following manual.
"Epson RC+ 8.0 Option Force Guide 8.0 SPEL+ Language Reference"