Mitsubishi Electric CR750-Q Instruction Manual page 204

4MELFA-BASIC V
Cmp Pos (Compliance Posture)
[Function]
Start the soft control mode (compliance mode) of the specified axis in the XYZ coordinates system.
[Format]
Cmp[]Pos, <Axis designation>
[Terminology]
<Axis designation>
[Reference Program]
1 Mov P1
2 CmpG 0.5, 0.5, 1.0, 0.5, 0.5, , ,
3 Cmp Pos, &B011011
4 Mvs P2
5 M_Out(10)=1
6 Dly 1.0
7 HOpen 1
8 Mvs, -100
9 Cmp Off
[Explanation]
(1) The robot can be moved softly with the XYZ coordinate system.
For example, when inserting a pin in the vertical direction, if the X, Y, A and B axes are set to soft opera-
tion, the pin can be inserted smoothly.
(2) The degree of softness can be designated with the CmpG command.
(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) The deviation of the command position and actual position can be read with M_CmpDst. The success/
failure of pin insertion can be checked using this variable.
(6) 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.
(7) 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.
(8) If the servo turns from Off to On while this command is functioning, the robot position could change.
(9) 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.
(10) To change the axis specification, cancel the compliance mode with the Cmp Off instruction first, and
then execute the Cmp Pos instruction again.
(11) If the robot is operated near a singular point, an alarm may be generated or control may be disabled.
Do not operate the robot near a singular point. If this situation occurs, cancel the compliance mode by
executing 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.
(12) The compliance mode is valid only for the robot arm axes. It is not valid for additional axes, even if
specified.
(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
4-184 Detailed explanation of command words
Designate axis to move softly with a bit pattern.
1 : Enable, 0 : Disable
' Move in front of the part insertion position.
' Set softness
' The X, Y, A, and B axes are put in the state where they are con-
trolled in a pliable manner.
' Moves to the part insertion position.
' Instructs to close the chuck for positioning.
' Waits for the completion of chuck closing. (1 sec.)
' Open the hand.
' Retreats 100 mm in the Z direction of the Tool coordinate sys-
tem.
' Return to normal state.
&B00000000
This corresponds to axis L2L1CBAZYX