Mitsubishi Electric CR750-Q Instruction Manual page 202

4MELFA-BASIC V
Cmp Jnt (Compliance Joint)
[Function]
Start the soft control mode (compliance mode) of the specified axis in the JOINT coordinates system.
Note) The available robot type is limited. Refer to "[Available robot type]".
[Format]
Cmp[]JNT, <Axis designation>
[Terminology]
<Axis designation>
[Reference Program]
1 Mov P1
2 CmpG 0.0,0.0,1.0,1.0, , , ,
3 Cmp Jnt,&B11
pliable manner.
4 Mov P2
5 HOpen 1
6 Mov P1
7 Cmp Off
[Explanation]
(1) It is possible to control each of the robot's axes in the joint coordinate system in a pliable manner. For
example, if using a horizontal multi-joint robot to insert pins in a workpiece by moving the robot's hand
up and down, it is possible to insert the pins more smoothly by employing pliable control of the J1 and J2
axes (see the statement example above).
(2) The degree of compliance can be specified by the CmpG instruction, which sets the spring constant. If
the robot is of the RH-F series, specify 0.0 for the horizontal axes J1 and J2 to make the robot behave
equivalently to a servo free system (the spring constant is zero). (Note that the vertical axes cannot be
made to behave equivalently to a servo free system even if 0.0 is set for them. Also, be careful not to let
these axes reach a position beyond the movement limit or where the amount of diversion becomes too
large.) Note that
(3) The soft state is maintained even after the robot program execution is stopped. To cancel the soft status,
execute the "Cmp Off" command or turn Off the power.
(4) When pressing in the soft state, the robot cannot move to positions that exceed the operation limit of
each joint axis.
(5) If the amount of difference between the original target position and the actual robot position becomes
greater than 200 mm by pushing the hand, etc., the robot will not move any further and the operation
shifts to the next step of the program.
(6) It is not possible to use Cmp Jnt, POS, and Tool at the same time. In other words, an error occurs if the
Cmp Pos or Cmp Tool instruction is executed while the Cmp Jnt instruction is being performed. Cancel
the Cmp Jnt instruction once using the Cmp Off instruction to execute these instructions.
(7) Be aware that the position of the robot may change if the servo status is switched on while this instruc-
tion is active.
(8) It is possible to perform jog operations while the robot is in compliance mode. However, the setting of the
compliance mode cannot be canceled by the T/B; in order to do so, execute this instruction in a program
or execute it directly via the program edit screen of the T/B.
(9) To change the axis specification, cancel the compliance mode with the Cmp Off instruction first, and then
execute the Cmp Jnt instruction again.
(10) The compliance mode is valid only for the robot arm axes. It is not valid for additional axes, even if
specified.
(11) 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
4-182 Detailed explanation of command words
Specify the axis to be controlled in a pliable manner with the bit pattern.
1: Enable, 0: Disable
' Set softness.
' The J1 and J2 axes are put in the state where they are controlled in a
' Return to normal state.
"(4)" and "(5)" below do not function if this servo-free equivalent behavior is in use.
&B00000000
This corresponds to axis 87654321.