Mitsubishi Electric CR750-Q Instruction Manual page 207

(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.4-15:The example of using the compliance mode
CAUTION
CAUTION
CAUTION
[Related system variables]
M_CmpDst
[Related instructions]
Cmp Off (Compliance
(Compliance 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
controlled by the jog operation and the compliance mode differ.
When performing the teaching of a position while in the compliance mode, per-
form 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 (Compliance
Tool coordinate system
+Y
+X
+Z
P2
Gain), Cmp Pos (Compliance
Detailed explanation of command words 4-187
4MELFA-BASIC V
CMP TOOL, &B000011
000011
CBAZYX CBAZYX
Softens the X
and Y axis of the
tool coordinate
system.
Posture), Cmp Jnt