Mitsubishi Electric CR750-Q Instruction Manual page 209

CmpG (Compliance Gain)
[Function]
Specify the softness of robot control.
[Format]
Cmp Pos, Cmp Tool
CmpG[] [<X axis gain>], [<Y axis gain>], [<Z axis gain>], [<A axis gain>],
[<B axis gain>], [<C axis gain>], ,
Cmp Jnt
CmpG[] [<J1 axis gain>], [<J2 axis gain>], [<J3 axis gain>], [<J4 axis gain>],
[<J5 axis gain>], [<J6 axis gain>], ,
[Terminology]
<X to C axis gain>
<J1 to J6 axis gain>
[Reference Program]
1 CmpG , ,0.5, , , , , ' This statement selects only the Z-axis. For axes that are omitted, keep the corre-
[Explanation]
(1) The softness can be designated in each axis units.
(2) The soft state will not be entered unless validated with the Cmp Pos or Cmp Tool commands.
(3) A spring-like force will be generated in proportion to the deviation of the command position and actual
position. CmpG designates that spring constant.
(4) 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.
(5) If a small gain is set, and the soft state is entered with the Cmp Pos, Cmp Tool, and Cmp Jnt commands,
the robot position could drop. Set the softness state gradually while checking it.
(6) The softness can be changed halfway when this command executed under the soft control status.
(7) Even if value of less than minimum is set up, the gain is minimum value. Also, two or more decimal posi-
tions can be set for gain values.
RH-F series
RV-F series
(8) The compliance mode is valid only for the robot arm axes. It is not valid for additional axes (J7, J8 or L1,
L2), even if specified.
Specify this argument using a constant.
The softness can be set for each axis.
Value 1.0 indicates the normal status, and the 0.2 is the softest.
If the value is omitted, the current setting value will be applied.
sponding entries blank and just enter commas.
Type
0.20, 0.20, 0.20, 0.20, 0.20, 0.20
0.01, 0.01, 0.01, 0.01, 0.01, 0.01
Cmp Pos, Cmp Tool
Detailed explanation of command words 4-189
4MELFA-BASIC V
Cmp Jnt
0.00, 0.00, 0.20, 0.00, 1.00, 1.00
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