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(13) If a positioning completion condition is specified using the Fine instruction while the compliance mode
is activated, depending on the operation the robot may be unable to reach the positioning completion
pulse of the target position, and will wait indefinitely for the completion of the operation instruction. As a
result, the program execution comes to a halt. Do not use the compliance mode and the Fine instruction
at the same time.
J2
J4
Positioning device
J2
J4
Positioning device
Fig.4-4:The example of compliance mode use
CAUTION
CAUTION
CAUTION
[Available robot type]
RV-6SD/6SDL/12SD/12SDL series
[Related system variables]
M_BTime
[Related instructions]
Cmp Off (Composition
Joint)
+Y
Robot hand
J1
+X
O
P2
+Y
J1
+X
O
P2
The compliance mode is in effect continuously until the Cmp Off instruction is exe-
cuted, or the power is turned off. Exercise caution when changing the executable
program number or operating the jog.
To execute a jog operation after setting the compliance mode with the Cmp Pos
instruction, use the XYZ jog mode.
If any other jog mode is used, the robot may operate in a direction different from the
expected moving direction because the directions of the coordinate systems con-
trolled by the jog operation and the compliance mode differ.
When performing the teaching of a position while in the compliance mode, perform
servo OFF first.
Be careful that if teaching operation is performed with Servo ON, the original com-
mand position is taught, instead of the actual robot position. As a result, the robot
may move to a location different from what has been taught.
OFF),
CmpG (Composition
P2
Positioning device
Gain),
Cmp Tool (Composition
Detailed explanation of command words 4-166
4MELFA-BASIC IV
CMP POS, &B000011
CBAZYX
Soften the control of
axis X and Y in the
XYZ coordinates
system .
+Z
+Y
+X
Tool),
Cmp Jnt (Comp
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