12-98
ST_ResetCompVMode (Statement) [Ver.1.9 or later]
Function
Disables the velocity control mode under the compliance control (special compliance
control function statement) (exclusively designed for 6-axis robots).
Syntax
ST_ResetCompVMode
Explanation
Disables the compliance velocity control mode when ST_SetCompControl is
executed.
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.
Example
ST_ResetCompVMode 'Disable the compliance velocity control mode
ST_SetCompControl 'Enable the compliance control
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