12-94
ST_ResetFrcAssist (Statement) [Ver.1.9 or later]
Function
Initializes the force assistance (special compliance control function statement)
(exclusively designed for 6-axis robots).
Format
ST_ResetFrcAssisit
Explanation
Initializes the force assistance along and the moment assistance about X, Y, and Z-
axes of a coordinate system specified by ST_SetFrcCoord are set to 100%.
Related Terms
ST_SetFrcAssist
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.
Example
STResetCompControl 'Disable the compliance control
ST_ResetFrcAssist 'Initialize the force assistance and the
'moment assistance
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