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cuting a Cmp Off instruction once with servo Off (or turning Off and then On the power again), keep the
robot away from a singular point, and then make the compliance mode effective again.
(14) The compliance mode is valid only for the robot arm axes. It is not valid for additional axes, even if
specified.
(15) 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.
Fig.4-5:The example of using the compliance mode
CAUTION
CAUTION
CAUTION
[Available robot type]
RV-6SD/6SDL/12SD/12SDL series
[Related system variables]
M_BTime
[Related instructions]
Cmp Off (Composition
Joint)
Robot hand
Positioning device
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 Tool
instruction, use the Tool 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
Tool coordinate system
+Y
+X
+Z
P2
Gain),
Cmp Pos (Composition
Detailed explanation of command words 4-168
4MELFA-BASIC IV
CMP TOOL, &B000011
CBAZYX
Softens the X
and Y axis of the
tool coordinate
system.
Posture),
Cmp Jnt (Comp
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