[Force Guidance] (Tools Menu)

You can create an operation using the force control function, force trigger function, and force monitor function without programming by SPEL+ language.

[Force Guide] window display
There are the following two ways to display the [Force Guide] window.

  1. Select Epson RC+ 8.0 - menu-[Tools]- [Force Guide].
  2. Click Tool Bar the [The [Force Guide]image.
    image
Symbol
Item
a Force Guide Title Bar
b Force Guide Toolbar
c Main Window
d Run panel
e Description window
f Result window
g Property window
h Sequence tree
i Flow chart

Force Guide Title Bar
Title bar shows the window title and a name of currently selected force guide sequence. The force guide sequence name is displayed with [bracket].
When the force guide sequence is updated, "*" is displayed next to the [bracket]. When it saved, "*" is disappeared.
image
bar of Epson RC+ 8.0 and that of Force Guide are different. note that

Difference:

  • Epson RC+ 8.0 title bar :
    Working project name is displayed.
  • Force Guide title bar :
    The name of the currently selected force guide sequence is displayed.

Force Guide Toolbar
Force Guide toolbar is displayed above the Force Guide window and under the title bar.
image

Item
Tool tip
Description
image New sequence

Creates a force guide sequence.

Click it to display the sequence wizard.

To create a force guide sequence, set basic information, select tasks, and select a template according to the sequence wizard.

Reference: Create a new force guide sequence (describe in a later page)

image Delete sequence

Deletes a force guide sequence.

Click it to display the [Delete Force Guide Sequence] dialog box.

To delete the force guide sequence, select the force guide sequence to delete on the dialog box.

Reference: Delete a force guide sequence (describe in a later page)

Robot - Display a target robot number and robot name.
image Flow chart ON/OFF Switches the flow chart display ON/OFF on the force guide sequence.

Main Window
image
The main window can switch the displays by the following tabs:

Monitor tab : Display the data when executing the force guide sequence.
New Objects tab : Select the force guide objects to be added to the force guide sequence.
Object Details tab : Set or check a currently selected force guide sequence or force guide object.

Brief describes about each function are as follows:

  • [Monitor] tab
    Monitor tab has [Force], [1D Pos], [2D Pos], and [Pos Diff] tabs.
    image

    • [Force] tab
      Translational force and torque are displayed in each graph.
      Select items to be displayed on the check box next to the graph.

      • With a checkmark: Display the selected items in a graph.
      • Without a checkmark: The selected items are not displayed in a graph.

      image

      Item
      Description
      Force graph

      Display the translational force (Fx, Fy, Fz) in a graph.

      Vertical axis: Force [N]

      Horizontal axis: Time [s]

      Torque graph

      Display torque (Tx, Ty, Tz) in a graph.

      Vertical axis: Torque [N・mm]

      Horizontal axis: Time [s]

    • [1D Pos] tab
      Display the command position (CurPos) including force control and the command position (RefPos) only including position control on the graph by dividing them into X, Y, and Z components.
      Select items to be displayed on the check box next to the graph.

      • With a checkmark: Display the selected items in a graph.
      • Without a checkmark: The selected items are not displayed in a graph.

      image

      Item
      Description
      Position X graph

      Display the command positions (CurPos and RefPos) in X direction in a graph.

      Vertical axis: Position in X direction [mm]

      Horizontal axis: Time [s]

      Position Y graph

      Display the command positions (CurPos and RefPos) in Y direction in a graph.

      Vertical axis: Position in Y direction [mm]

      Horizontal axis: Time [s]

      Position Z graph

      Display the command positions (CurPos and RefPos) in Z direction in a graph.

      Vertical axis: Position in Z direction [mm]

      Horizontal axis: Time [s]

    • [2D Pos] tab
      Display the command position (CurPos) including force control and the command position (RefPos) only including position control on the graph by dividing them into XY, YZ, and XZ planes.
      image

      Item
      Description
      XY plane from +Y axis view graph

      Display the command positions (CurPos and RefPos) projected on XY plane in a graph.

      Vertical axis: Position in Y direction [mm]

      Horizontal axis: Position in X direction [mm]

      YZ plane from +Y axis view graph

      Display the command positions (CurPos and RefPos) projected on YZ plane in a graph.

      Vertical axis: Position in Z direction [mm]

      Horizontal axis: Position in Y direction [mm]

      XZ plane from +Y axis view graph

      Display the command positions (CurPos and RefPos) projected on XZ plane in a graph.

      Vertical axis: Position in Z direction [mm]

      Horizontal axis: Position in X direction [mm]

      Command Position

      You can select command positions to be displayed in the right bottom check boxes (Current Position and Reference Position).

      With a checkmark: Display the selected command positions in a graph.

      Without a checkmark: The selected command positions are not displayed in a graph.

      This setting is reflected to all graphs.

    • [Pos Diff] tab
      Display the difference between the command position (CurPos) including force control and the command position (RefPos) only including position control on the graph by dividing them into each component: X, Y, and Z.
      image

      Item
      Description
      Pos Diff X graph

      Display the position difference of the command positions (CurPos and RefPos) in the X direction in a graph.

      Vertical axis: Positional difference in X direction [mm]

      Horizontal axis: Time [s]

      Pos Diff Y graph

      Display the position difference of the command positions (CurPos and RefPos) in the Y direction in a graph.

      Vertical axis: Positional difference in Y [mm]

      Horizontal axis: Time [s]

      Pos Diff Z graph

      Display the position difference of the command positions (CurPos and RefPos) in the Z direction in a graph.

      Vertical axis: Positional difference in Z [mm]

      Horizontal axis: Time [s]

    • Common functions
      There are the following functions common for each graph.

      • Enlarged display of graph
      • Move an enlarged area
      • Change of graph scale

      You can use the above functions when the graph is not updating.
      image

      Button
      Tool tip
      Description
      image Zoom

      To enlarge a graph, select an area where you want to enlarge.

      Click the button, then move a mouse cursor on the graph.

      When the cursor moves over the graph, it changes to a cross-hair cursor.

      Then, an area from the start position to the end position will be enlarged.

      To return to the original graph, click the button again.

      Instead of clicking button, you can display enlarged graph by rolling the mouse wheel on the graph.

      Also while clicking the mouse wheel on the graph and moving left and right, up and down, the graph is enlarged for each axis.

      image Pan

      Move an enlarged area.

      Click the button, then move a mouse cursor on the graph.

      When the cursor moves on the graph, it changes to an arrow cursor.

      While left-clicking the enlarged area and moving left and right, up and down, the area moves with the mouse motion.

      Instead of clicking button, while right-clicking the mouse on the graph and moving left and right, up and down, the enlarged area moves with the mouse motion.

      image Set scales for axes

      Change scales for graph.

      Click the button to display the [Set Graph Axis Scales] dialog box. You can change the scale for each axis.

      When set to "Auto", the scale changes automatically depending on the values.

      When "Auto" is not specified, scale changes to the specified value.

      image Restore zoom

      Resets the graph enlargement.

      If you click the (image) button with the Enlarge Graph button (image) not pressed, the graph is returned to its default display status (if you have used the right mouse button to move it, or enlarged it by using the mouse wheel).

      Instead of clicking button, double-click the right mouse button on the graph to show the default size of the graph in the same way as clicking the enlarge graph button.

  • [New Objects] tab
    In New Objects tab, you can add a new force guide object to the force guide sequence.
    To add the force guide object to the force guide sequence, select the force guide object and drag it on the flow chart.
    image

    Item
    Description
    Category

    Items that are classified objects according to functions. You can select the following items.

    Contact, Follow, Probe, Press, Align, Execution, All Tools

    Objects

    Display the force guide object list of items selected in [Category].

    **[Category] ** [Objects]
    Contact Contact
    Follow Relax, FollowMove
    Probe PressProbe, ContactProbe
    Press Press, PressMove
    Align SurfaceAlign
    Execution Decision, SPELFunc
    All Tools All force guide objects

    To add the force guide object to the force guide sequence, select (click) the force guide object that you want to add, and drag it to the flow chart (release the mouse button).

    When selecting the force guide object from the force guide object list, an image and descriptions of the force guide object are described under the [Category] and the [Objects].

  • [Object Details] tab
    For the force guide object and the force guide sequence which are currently selected, you can check its names, description settings, execution time, and execution result (EndStatus).
    image
    Set or check the selected force guide sequence or force guide object.

    Item
    Description
    Name

    Sets up a name.

    You can enter up to 16 alphanumeric characters.

    Description

    Sets a description.

    You can enter up to 255 alphanumeric characters.

    Time Displays an execution time.
    EndStatus Displays an execution result.
    MeasuredHeight Displays a height inspection result. (only for the HeightInspect sequence)

  • Run panel
    In the Run panel, you can execute the force guide sequence and debug. Also, you can move the robot to the specified target position.
    There are the [Run] tab and the [Execute Motion] tab on the Run panel.
    image
    image

    • [Run] tab
      Operate a target force guide sequence.
      Reference: Execute a force guide sequence (describe in a later page)

      Item
      Description
      [Run] button Execute the selected force guide sequence.
      [Step] button Execute the force guide object of the selected force guide sequence from the top.
      [Resume] button Restart the paused force guide sequence.
      [Abort] button Pause the running force guide sequence.
      [Low Power] check box

      When placing a checkmark in the check box, the robot operates in low power mode.

      The checkmark is not placed by default.

    • [Execute Motion] tab
      Specify a motion command and move the robot to a specified target position.

      Item
      Description
      [Run] button Move the robot to the specified position using the specified motion command.
      [Use LJM] check box

      With a checkmark: When executing a motion command, the robot automatically changes the orientation to decrease the amount of joint movement and operates.

      The checkmark is not placed by default.

Flow chart
Flow chart shows the force guide object flows of the currently selected force guide sequence.

  • Flow chart order

    • Initial : Force guide sequence which is currently selected.
    • Second or later : Force guide object which is included in the selected force guide sequence.
      Force guide objects are in execution order.

  • Flow frame color

    • Blue : Normal display.
    • Pink : When the force guide sequence or force guide object is clicked and selected.

  • Lock marks on flowcharts
    A lock mark will appear next to system force guide sequences and system force guide objects on the flowchart. System force guide objects cannot be moved or deleted.

    System force guide objects are objects that can only be used in a system force guide sequence. They cannot be added from new objects.

    The operations available when right clicking the flowchart are different for system force guide sequences and system force guide objects compared to general force guide sequences and general force guide objects.
    See: When right-clicking on the force guide sequence flow:
    See: When right-clicking on the object flow:
    image

    For more information on system force guide sequences, see the following.
    Software Force guidance function

You can call up various operations by right-clicking the flow.
When right-clicking on the force guide sequence flow:
(for general force guide sequences and system force guide sequences)

Item
Description
New sequence

Creates a force guide sequence.

To create a force guide sequence, set basic information, select tasks, and select a template according to the sequence wizard.

Reference: Create a new force guide sequence

Delete sequence

Deletes a force guide sequence.

Delete Force Guide Sequence dialog box,

To delete the force guide sequence, select the force guide sequence to delete in the [Delete Force Guide Sequence] dialog box.

Reference: Delete a force guide sequence

Run sequence

Executes the selected force guide sequence.

Reference: Execute a force guide sequence

Paste Pastes a copied or cut force guide object.
Create SPEL sequence

Converts a created force guide sequence into a program file of SPEL+.

When selecting it, SPEL creation dialog box is displayed.

Input the required information on the dialog box and create a SPEL+ program file.

Reference: SPEL creation of force guide sequence

When right-clicking on the force guide sequence flow:
(for system force guide sequences)

Item
Description
Sequence wizard

Displays the setting wizard of the system force guide sequence.

Reference: Create a new force guide sequence

When right-clicking on the object flow:
(for general force guide sequences and system force guide sequences)

Item
Description
Toggle Breakpoint Set or release a breakpoint.

Select when a breakpoint is not set:

You can set a breakpoint. When setting is done, an icon is displayed on the upper right of the object flow.

Select when a breakpoint is set:

Release a breakpoint. When releasing it, the icon displayed on the upper right of the object flow is cleared

If you execute the force guide sequence when setting the breakpoint, the object pauses at the object flow which the breakpoint is set.
Paste Pastes a copied or cut force guide object.

When right-clicking on the object flow:
(for general force guide sequences)

Item
Description
Copy Copy the selected force guide object.
Cut Cut the selected force guide object.
Delete

Delete the selected force guide object.

When you select it, a confirmation message is displayed.

[Yes] button: Force guide object is deleted.

[No] button: Force guide object is not deleted.

You can check the execution status and the execution results of the sequences in sequence/object flow on the flow chart.

Item
Condition
Description
Color of frame Blue Indicate normal condition.
Purple Indicate the selected conditions.
Black Indicate the pause condition.
Green Indicate the in-execution condition.
Color within a frame White Indicate normal condition.
Yellow Indicate the pause condition.
Light blue Indicate the in-execution condition.
Upper left icons within a frame Image ✓ Indicate that the execution of the force guide sequence or force guide object is succeeded.
Image × Indicate that the execution of the force guide sequence or force guide object is failed.

Sequence tree
Tree shows all sequences.
Sequence node and object node in the sequence tree can operate the same operation flow as the flow chart.

Property window
In the property window, you can change each property value of the force guide object or force guide sequence.
Display the property window by the following ways: Select a sequence flow or an object flow on the flow chart. Select a sequence node or an object node on the sequence tree
image
For details of each property, refer to the following section. Software 4. Force Guidance Function

Result window
In the result window, you can check the execution results of the force guide sequence or force guide object.
Display the result window by the following ways: Select a sequence flow or an object flow on the flow chart. Select a sequence node or an object node on the sequence tree
image
For details of each result, refer to the following section. Software 4. Force Guidance Function

Description window
The description window displays the name and simple descriptions for selected properties or results on the property window or the result window.
image

[Jog] tab
[Jog] tab is displayed when selecting the [Jog] tab on the right side of the sequence tree.
[Jog] tab can be a fly-out panel, which can be placed wherever you like.
When performing Jog motion, you need to turn ON the robot motor. Turn ON the motor by [Robot] tab.
image

Item
Description
Motor: On/Off Set the robot motor turn on/off.
Power: High/Low Set the robot motor power High/Low.
Reset Reset the servo system and the Emergency Stop state of the robot.
Robot Select the robot type.
Mode Set the jog mode. (World, Tool, Local, Joint, ECP)
Speed Set the jog speed. (Low speed, high speed)
[Jog Distance] group

Set the distance of jog motion. (Continuance, large, medium, small)

When selecting "large", "medium", or "small", you can change the distance by entering a value in the text boxes.

Jog button To operate a robot in jog mode, click the jog button after setting the jog mode, jog speed, and a distance of jog motion.

Select the [Continuous] button on [Jog Distance].

The robot will continue jog motion until the jog button is released.

Select a button other than [Continuous] on [Jog Distance].

The robot will operate the jog distance as one step. If you keep clicking the jog button, the robot keeps operating the jog motion.

Create a new force guide sequence

  • Overview
    Create a force guide sequence by using sequence wizard. This sequence wizard can be displayed by doing the following.
    Click the [New sequence image] button on the Force Guide tool bar.
    Right-click the sequence flow on the flow chart or the sequence node on the sequence tree to select [New sequence].
    When the sequence wizard is displayed, select the sequence according to each window.

  • Sequence Wizard: Create a general force guide sequence

    • Step 1: General
      image
    Item
    Description
    General

    Enter name for new sequence:

    Enter a force guide sequence name.

    (up to 16 characters in alphanumeric characters.)

    Select the robot that will use the new sequence.

    Select a robot that uses a new force guide sequence from the list of currently registered robots.

    Copy from existing sequence:

    To create a force guide sequence by copying an existing force guide sequence, select the force guide sequence to be copied from the list.

    When you do not wish to copy a sequence, select the blank space in the list.

    [Cancel] button

    Cancels the creation of a new sequence .

    Click it to end a sequence wizard.

    [Back] button

    Returns to the previous Step.

    You cannot click the button since the current step is Step 1.

    [Next] button

    Proceeds to the next Step.

    In [Copy from existing sequence]

    When you select "Force guide sequence"

    You cannot click this button.

    When you select a blank space:

    You can click the button.

    [Finish] button

    Completes the creation of the new force guide sequence.

    Creates a new force guide sequence with the entered information.

    • Step 2: Select sequence type
      image
    Item
    Description
    Select sequence type

    When you use a template as the force guide sequence, select [Template].

    When you do not use a template, select [Empty].

    [Cancel] button

    Cancels the creation of a new force guide sequence.

    Click it to end a sequence wizard.

    [Back] button Returns to the previous Step.
    [Next] button

    Proceeds to the next Step.

    When you select [Select type of force guide operation you want to do]-[None]:

    You cannot click this button.

    When you select other than [Select type of force guide operation you want to do]-[None]:

    You can click the button.

    [Finish] button

    Cancels the creation of a new sequence.

    When you select [Select type of force guide operation you want to do]-[None]:

    You can click the button.

    When you select other than [Select type of force guide operation you want to do]-[None]:

    You cannot click this button.

    • Step 3: Select type of force guidance operation you want to do
      image
    Item
    Description
    Select type of force guidance operation you want to do

    Select an operation to do from the followings.

    Peg In Hole

    Connector Insertion

    ScrewTighten

    [Cancel] button

    Cancels the creation of a new force guide sequence.

    Click it to end a sequence wizard.

    [Back] button Returns to the previous Step.
    [Next] button Proceeds to the next Step.
    [Finish] button

    Cancels the creation of a new sequence.

    You cannot click this button in the current step.

    • Step 4: Select the sequence template for the selected operation
      image
      (The above dialog box is an image when selecting [Peg In Hole] in the Step 2.)
    Item
    Description
    Select the sequence template for the selected operation

    Select a template from the followings.

    When selecting [Peg In Hole]:

    With Probe, Without probe, With SurfaceAlign.

    When selecting [Connector Insertion]:

    With Probe, Without probe

    When selecting [Screw Driving]:

    Standard

    [Cancel] button

    Cancels the creation of a new force guide sequence.

    Click it to end a sequence wizard.

    [Back] button Returns to the previous Step.
    [Next] button

    Proceeds to the next Step.

    You cannot click the button since the current step is Step 4.

    [Finish] button

    Completes the creation of the new force guide sequence.

    Creates a new force guide sequence with the entered information.

  • Sequence Wizard: Create a new system force guide sequence

    • Step 1: General
      image
    Item
    Description
    General

    Enter name for new sequence:

    Enter a force guide sequence name.

    (up to 16 characters in alphanumeric characters.)

    Select the robot that will use the new sequence.

    Select a robot that uses a new force guide sequence from the list of currently registered robots.

    Copy from existing sequence:

    To create a force guide sequence by copying an existing force guide sequence, select the force guide sequence to be copied from the list.

    When you do not wish to copy a sequence, select the blank space in the list.

    [Cancel] button

    Cancels the creation of a new sequence .

    Click it to end a sequence wizard.

    [Back] button

    Returns to the previous Step.

    You cannot click the button since the current step is Step 1.

    [Next] button

    Proceeds to the next Step.

    In [Copy from existing sequence]

    When you select "Force guide sequence"

    You cannot click this button.

    When you select a blank space:

    You can click the button.

    [Finish] button

    Completes the creation of the new force guide sequence.

    Creates a new force guide sequence with the entered information.

    • Step 2: Select sequence type
      image
    Item
    Description
    Select sequence type To create a system force guide sequence, select [System].
    [Cancel] button

    Cancels the creation of a new force guide sequence.

    Click it to end a sequence wizard.

    [Back] button Returns to the previous Step.
    [Next] button

    Proceeds to the next Step.

    When you select [Select type of force guide operation you want to do]-[None]:

    You cannot click this button.

    When you select other than [Select type of force guide operation you want to do]-[None]:

    You can click the button.

    [Finish] button

    Cancels the creation of a new sequence.

    When you select [Select type of force guide operation you want to do]-[None]:

    You can click the button.

    When you select other than [Select type of force guide operation you want to do]-[None]:

    You cannot click this button.

    • Step 3: Select system sequence
      image
    Item
    Description
    Select system sequence

    Select the type of system force guidance operation you want to create from the following:

    Paste

    ScrewTighten

    HeightInspect

    Insert

    [Cancel] button

    Cancels the creation of a new force guide sequence.

    Click it to end a sequence wizard.

    [Back] button Returns to the previous Step.
    [Next] button

    Use this to advance to the next step in the system force guide sequence wizard.

    For more information on the system force guide sequence wizard, see the following.

    Software Force guidance function

    [Finish] button

    Cancels the creation of a new sequence.

    You cannot click this button in the current step.

Delete Force Guide Sequence

  • Overview
  1. Display the [Delete Force Guide Sequence] dialog box in one of the following ways:
    Click the [Delete sequence image] button on the Force Guide tool bar.
    Right-click the sequence flow on the flow chart or the sequence node on the sequence tree to select [Delete sequence].
  2. Select a sequence that you want to delete by using a mouse or an arrow key.
  3. When the force guide sequence name that you want to delete is highlighted, click the [Delete] button.
  4. A confirmation message is displayed.
    Click the [Yes] button to delete a sequence. If you want to cancel a deletion, click the [No] button.
  • [Delete Force Guide Sequence] dialog box
    image
    Item
    Description
    Selection list Select a force guide sequence to be deleted.
    [Delete] button

    Delete a highlighted force guide sequence. When you click the button, a confirmation message is displayed.

    [Yes] button: Delete a force guide sequence.

    [No] button: Cancel a deletion.

    [Cancel] button

    Cancel a deletion of a force guide sequence.

    End the [Delete Force Guide Sequence] dialog box.

Execute Force Guide Sequence

  • Overview

    1. Execute a force guide sequence in one of the following ways:
      Click the [Run] button.
      To select [Run Sequence], right-click the sequence flow on the flow chart or the sequence node on the sequence tree.
    2. A confirmation message appears for executing the force guide sequence. Click the [Yes] button to execute the sequence. If you want to cancel execution, click the [No] button.

    Execution result of the force guide sequence execution:
    You can check the results on flow chart or result window.

    Success or failure of execution result:
    You can check it on the flow chart. For more detailed information, check the result window.

  • Breakpoint setting
    Breakpoint is a function to pause the force guide sequence execution when the force guide object starts by setting to a force guide object.

    Set or release a breakpoint by the following way:

    • Right-click a target force guide object on the object flow of the flow chart or the object node on the sequence tree, and select the [Toggle Breakpoint].
    • After selecting the target force guide object, click the [F9] key.

  • Step
    "Step" is a function to execute the force guide object step-by-step.
    For example, when executing the force guide sequence with step execution, the program pauses at the first force guide object. Every time you click the [Step] button, the program repeats the operation to execute the paused force guide object and pause at the next force guide object.
    To execute a force guide sequence in step execution, click the [Run] panel- the [Step] button.
    You can click the [Step] button when the force guide sequence is not executed or the program is paused during the force guide sequence execution. You can execute the next force guide object by clicking the button.

  • Resume
    "Resume" is a function to restart the execution from where it is paused during the force guide sequence execution.
    To execute a force guide sequence in continuous execution, click the [Run] panel- the [Resume] button.
    You can click the [Resume] button when the sequence is paused during the force guide sequence execution. You can restart the program from where it paused.

  • Abort
    "Abort" is a function to stop the running force guide sequence.
    To stop the force guide sequence, click the [Run] panel-the [Abort] button.
    You can click the [Abort] button when the force guide sequence is running or the program is paused. Click the button to stop the running force guide sequence. You cannot restart the stopped force guide sequence.

Create SPEL Program from Force Guide Sequence

  • Overview
    Use the [Create SPEL Sequence] dialog box to create SPEL programs by the force guide sequences.

    1. Right-click the sequence flow of the flowchart or the sequence node of the sequence tree, then select [Create SPEL sequence].
    2. The [Create SPEL Sequence] dialog box is displayed.
      Select the sequence and enter the program file name.
    3. Click the [Create] button. The SPEL program is created.

  • [Create SPEL Sequence] dialog box
    image

    Item
    Description
    Select sequence Select the force guide sequences which create SPEL program.

    Program file name

    Enter

    Enter program file name of SPEL to be created.

    Default: Selected force guide sequence name.prg

    Point File

    Select a point file to be used for the created SPEL program.

    The created SPEL program loads the file specified by LoadPoints statement. If loading the file is not required, comment out the statement.

    Point

    Select a point range to be used for the created SPEL program.

    The created SPEL program overwrites the selected point range everytime the program is executed.

    Specify the undefined point range.

    Force File

    Select the force file to be used for the created SPEL program.

    If there are no force files are existed, create a force file with file name ("robot"+ robot number) such as "robot1.frc".

    The created SPEL program loads the file specified by Fload statement.

    If loading the file is not required, comment out the statement.

    FC Object

    FCS Object

    FM Object

    FT Object

    FMR Object

    Select force guide object used in the created SPEL program.

    The created SPEL program overwrites the selected force object every time the program is executed.

    Specify the undefined point.

    [Create] button

    Create SPEL program.

    Create a program based on the entered information and add it to the project.

    If the existing program file name is already entered as a program name, the message to confirm overwriting is displayed.

    [Yes] button :

    Overwrite the program file.

    [No] button :

    Return to the dialog box without creating the program.

    [Cancel] button

    Cancel SPEL program creation.

    Exit the [Create SPEL Sequence] dialog box.

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