SPEL+ Commands of Force Guide 8.0

The following describes the concept necessary for using the SPEL+ commands added to Force Guide 8.0.

Force object

A force object is a set of properties for each function necessary for using the force functions.
Define this object and execute each force function. A force object can be defined using a GUI such as Robot Manager or SPEL+ commands.
There are the following types of force objects.

• "Force control object" used for the force control function
• "Force trigger object" used for the force trigger function
• "Force monitor object" used for the force monitor function
• "Force motion restriction object" used for the force motion restriction function
• "Force coordinate object" used commonly for the force functions

Properties

Properties are parameters included in the force objects. The properties can be set and obtained.

The properties can be set using Force Editor before executing a program or can be changed dynamically using SPEL+ commands in a program.

An FSet statement is used to set properties. An FGet statement is used to get properties. Properties set by FSet are copied to the force file at the time when a project is loaded. The set values can be saved in the file using the FSave statement.

Status

A status is a value that is included in the force object and is returned after the force function is executed.

A status can be obtained by a SPEL+ command in a program, and the process can be branched based on it. An FGet statement is used to get a status. Each status is cleared at a unique timing. For details on when each status is initialized, refer to each status in the following manual.
"Epson RC+ 8.0 Option Force Guide 8.0 SPEL+ Language Reference"