Denso RC5 Especificações descarregar pdf (Página 363)

100

101

Chapter 12 Robot Control Statements

12-87

ST_ResetCompControl (Statement) [Ver.1.9 or later]

Function

Disables the compliance control function (exclusively designed for 6-axis robots).

Format

ST_ResetCompControl

Explanation

Disables the compliance control function.

Related Terms

ST_SetCompControl

Notes

(1) Execute this command in a TAKEARMed task that has obtained arm

semaphore. If this command is executed without arm semaphore obtained, Error

"21F7 Cannot take arm semaphore" will result.

(2) Execute this command when the robot is on halt. Executing this command in a

pass motion will cause an end motion. If executing this command when the

robot is in motion immediately stops the robot or causes Error "612* J*

overcurrent," then set the value to "1" or stop the robot by using the Delay

command.

(3) If the robot comes to a momentary stop during execution of this command so

that you perform a Step back or Program reset, then Error "60F9 Improper

compliance set/reset operation" will occur.

(4) If you use ST_SetEralw to change the allowable deviation values while the

compliance control is enabled, the allowable deviation values will return to their

initial values. The allowable deviation values may not be reset to the initial

values when an error occurs while executing ST_ResetCompControl. If this is

the case, use ST_ResetEralw to initialize the allowable deviation values after

disabling the compliance control.

(5) If Error " 608* J* command speed limit over" occurs, use the ST_aspChange to

change the optimal load capacity mode to 2 or 3 before execution of the

ST_ResetCompControl. After execution of this command, return the optimal

load capacity mode to the previous value.

Example

ST_ResetCompControl 'Disable the compliance control.

ST_ResetEralw 'Initialize the allowable deviation values

1 2 ... 358 359 360 361 362 363 364 365 366 367 368 ... 691 692

Comentários a estes Manuais

Sem comentários

Denso RC5 Especificações Página 363

Comentários a estes Manuais

Manuais e produtos relacionados com Robótica Denso RC5