Adjust While Executing Test

Adjust the created force guide sequence.
Perform the test execution on the [Force Guide] window. We recommend adjusting a force guide sequence only as much as possible. If it is necessary to connect with other devices, you can adjust while executing as SPEL+ programming.
Perform the test execution and adjust a property of the force guide object with the force, position, and result when executing.
To adjust each object, refer to the following section.
General force guide object
Paste Object
ScrewTighten Object
ScrewRetighten Object
HeightInspect Object
Insert Object
TensileTest Object

To perform the test execution or check the force or position when executing, refer to the following section.
Software [Force Guidance] (Tools Menu)

We recommend starting the adjustment in low power. After confirming that the rough motions are correct, perform the adjustment in high power. When performing a final adjustment, perform the adjustment in the same power as when using the force guide sequence. When adjusting in low power, the maximum speed or the maximum acceleration is limited not to exceed the limitation of the low power. Therefore, when you switch the power to different mode, conditions will be changed and re-adjustment will be necessary.
In the [Force Guide] window, you can execute the force guide objects one by one by the step execution function. Also, by setting a breakpoint, you can stop the force guide sequence in front of an object. Main objective of this is to confirm that the rough motions are correct at the early stage of adjustment. To adjust parameters, click the [Run] button without setting breakpoints. When pausing the force guide sequence by the step execution or breakpoints, the operation may be affected by the force which is applied until the next force guide object starts or the force control function which is kept working during the pause. If you perform adjustment in this state, re-adjustment will be required since the conditions are changed.