Steps and Basic Concepts for using the Force Guidance Function

The following describes the basic concepts to use the force guidance function according to the steps. More specific examples are described in Tutorial. This chapter describes general steps and concepts.

For more specific examples, refer to the following section. Software Tutorial

Steps to use the force guidance function are as follows: This section describes about the following items.

• Using the SPEL+ Language to Create Motions Prior to Starting Force Control Function
• Set a force guide sequence
• Set force guide object(s)
• Adjust While Executing Test
• Execute a force guide sequence using the SPEL+ language