Creation of Data Acquisition Program by Epson RC+

To start force sensor data acquisition, use the “RecordStart” property of the FM object in the SPEL program. This method is the same as when outputting data by the Epson RC+. For detailed control and setting information, see the following manual:

• "Epson RC+ Optional Force Guide 8.0"
• "SPEL+ Language Reference"

If you already have a program that uses RecordStart, you can use it as is.*

*: One concurrent execution of RecordStart is recommended. If two RecordStart cases are executed simultaneously, the data and status of the second case will be output to a node under ForceSensorMonitor_2.

Acquiring force sensor data ends when the task ends or the measurement time is reached. Or you can end it whenever you want by executing “RecordEnd” property.

Force sensor data acquisition settings (selection of sensors to acquire data, configuration of coordinate system, etc.) are made with the properties of the FM object, an existing Epson RC+ object. For more information on FM object settings, see the following manual:

"Epson RC+ Option Force Guide 8.0"

After creating a program, see the following manual and perform a build:

"Epson RC+ 8.0 User's Guide"