This system is a data collection system collecting a robot operation-related data/signal from a robot controller. The data collection system includes a data collection condition setting unit setting a collection condition of the robot operation-related data/signal from the robot controller and a data storage unit storing the robot operation-related data/signal collected from the robot controller. A shared memory inside which the data storage unit and the data collection condition setting unit are formed is formed in a substrate which can be mounted on an expansion slot of the robot controller. According to this system, a data collection function can be post-installed to an existing robot controller so as to arbitrarily select and collect various data on the robot operation.

Touch sensing circuit arrangements include a touch sensor and a controller board. The touch sensor includes one or more sensing elements to generate touch-related signals responsive to a touch input to the sensor, and a memory device storing computer-executable firmware instructions for determining touch positions based on the touch-related signals. The controller board includes query logic executable by the controller board to cause the controller board to query for the computer-executable firmware instructions stored on the memory device of the touch sensor, and a processor circuit to determine touch positions by executing the firmware instructions loaded onto the generic controller board in response to the query.