Specifications of Force Sensor Node

This section describes the specifications of the force sensor node. For information on how to use it, refer to the following manual.

Acquisition of Force Sensor Data

ForceSensorMonitorSystemType ObjectType Definition

• Overview

  ForceSensorMonitorSystemType indicates the monitoring system for the force sensor data in the Controller. Instantiate this type for each force sensor monitoring system installed in the Controller.

  

ObjectType Definition

ForceSensorMonitorSystemType is defined below.

Attribute	Value
BrowseName	ForceSensorMonitorSystemType
IsAbstract	FALSE

References	Node Class	BrowseName	DataType	TypeDefinition	ModellingRule
Subtype of the ComponentType defined in OPC Unified Architecture for Devices (DI)
HasComponent	Variable	Port	Boolean	BaseDataVariableType	Mandatory
HasComponent	Variable	Option	String	BaseDataVariableType	Mandatory
HasComponent	Variable	DataType	Uint16	BaseDataVariableType	Mandatory
HasComponent	Variable	DataNum	UInt16	BaseDataVariableType	Mandatory
HasComponent	Object	[ForceSensorMonitor​Identifier]	-	Epson: ForceSensorMonitorType	MandatoryPlace holder

ObjectType Description

• Variable Port

  This is a configuration node for switching the data output destination. It determines whether data will be output to OPC UA or to an existing output destination (Epson RC+).

  The values are described in the following table.

  Value	Description
  True	Outputs data to OPC UA.
  False	Outputs data to Epson RC+.

  KEY POINTS

  ---

  Data is output to either Epson RC+ or OPC UA.

• Variable Option

  This node is not normally used. Do not change the value.

• Variable DataType

  DataType is a configuration node for selecting the data to be acquired. The relationship between the value and the data to be acquired is shown in the following table.

  Value	Data to be acquired
  0	ElapsedTime, Force, CurPos, RefPos, Diff, TCPSpeed, CurAngle, OLRate, FCOn, StepID, SeqNo, ObjNo, Time
  1	ElapsedTime, CurPos, TCPSpeed, CurAngle, OLRate, StepID, SeqNo, ObjNo, Time
  2	ElapsedTime, Force, CurPos, StepID, SeqNo, ObjNo
  3	ElapsedTime, CurPos, StepID, SeqNo, ObjNo

  For details on the data to be acquired, refer to the following.

  Data Formatting

• Variable DataNum

  The DataNum node is used to specify the maximum number of data items to be acquired from the server at one time.

  Value	Description
  0	Does not set maximum number of data items (Determined by server)
  1~	Sets maximum number of data items

• Object [ForceSensorMonitorIdentifier]

  [ForceSensorMonitorIdentifier] indicates that the force sensor monitoring system has one or more monitoring channels. It is expressed by an instance of ForceSensorMonitorType.

  KEY POINTS

  ---

  When a sensor data acquisition instruction (RecordStart) is executed, data and status are output to a node under ForceSensorMonitor_1. If two cases are executed simultaneously, the data and status of the second case will be output to a node under ForceSensorMonitor_2.

ForceSensorMonitorType ObjectType Definition

• Overview

  ForceSensorMonitorType indicates the monitor data generated by the ForceSensorMonitorSystemType instance. This type is instantiated for each monitor data item (each monitor channel) contained in the ForceSensorMonitorSystemType instance.

  For details, refer to the following.

  Specifications of Force Sensor Node - ForceSensorMonitorSystemType

  

ObjectType Definition

ForceSensorMonitorType is defined below.

Attribute	Value
BrowseName	ForceSensorMonitorType
IsAbstract	FALSE

References	Node Class	BrowseName	DataType	TypeDefinition	Modelling Rule
Subtype of the ComponentType defined in OPC Unified Architecture for Devices (DI)
HasComponent	Variable	Data	ByteString	BaseDataVariableType	Mandatory
HasComponent	Variable	MonitorStatus	String	BaseDataVariableType	Mandatory
HasComponent	Variable	DataExistsStatus	String	BaseDataVariableType	Mandatory
HasComponent	Variable	ErrorStatus	String	BaseDataVariableType	Mandatory

ObjectType Description

• Variable Data

  This is the node to which the data will be output. When this node is read, data can be acquired by the force sensor. For the details of data format, refer to the following.

  Data Formatting

  After data acquisition has successfully started by SPEL command, the data held inside the Controller at that time can be read by acquiring this node.

  If there is no data held inside the Controller, Null is returned when the node is read.

  The types of data that can be acquired include header, data part, and footer, all of which can be acquired from this node. Only one type of data can be acquired in a single read: header, data part, or footer. Headers and data parts, data parts and footers, and such are not mixed.

• Variable MonitorStatus

  Indicates the execution status of sensor data acquisition. The values are described below.

  Value	Description
  Stop	Indicates that sensor data acquisition is stopped
  Run	Indicates that sensor data acquisition is in progress Executing the RecordStart command results in this value

• Variable DataExistsStatus

  Indicates whether data can be acquired from the Data node. The data acquisition timing can be determined from this value. The values are described below.

  Value	Description
  Empty	Indicates that there is no data that can be acquired from the Data node
  Ready	Indicates that there is data that can be acquired from the Data node

• Variable ErrorStatus

  Indicates the occurrence of errors and warnings during data acquisition. From this value, you can determine how to handle the data. The values are described below.

  Value	Description
  None	Indicates that there is no abnormality
  Warning	Indicates that data overwriting has occurred Data acquisition will continue
  Error	Indicates that data acquisition has been interrupted

Example of address space

The following is an example of an instance of address space when the force sensor data acquisition function is available.

Symbol	Description
a	Configuration node
b	Data acquisition node
c	Status indicator nodes