Mitsubishi Electric CR750-Q Instruction Manual page 203

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.
(12) While operation is performed in the compliance mode of the joint coordinate system, if the Excessive
error 1 (H096n) occurs, increase the set value of parameter CMPJCLL to suppress the error.
(Setting range: 1 to 10)
Gradually increase the set value of this parameter until no Excessive error 1 occurs.
To use this function, the controller software version R4b/S4b or later is required.
CAUTION
CAUTION
CAUTION
[Available robot type]
RH-F series
[Related system variables]
M_CmpDst
[Related instructions]
Cmp Off (Compliance OFF), CmpG (Compliance Gain), Cmp Pos (Compliance Posture), Cmp Tool
(Compliance Tool)
[Related parameter]
CMPJCLL
The compliance mode is in effect continuously until the Cmp Off instruction is exe-
cuted, or the power is turned off.
To execute a jog operation after setting the compliance mode with the Cmp Jnt
instruction, use the JOINT 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
controlled 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.
Detailed explanation of command words 4-183
4MELFA-BASIC V