Mitsubishi Electric CR750-Q Instruction Manual page 208

4MELFA-BASIC V
Cmp Off (Compliance OFF)
[Function]
Release the soft control mode (compliance mode).
[Format]
Cmp[]Off
[Reference Program]
1 Mov P1
2 CmpG 0.5, 0.5, 1.0, 0.5, 0.5, , ,
3 Cmp Tool, &B011011
4 Mvs P2
5 M_Out(10)=1
6 Dly 1.0
7 HOpen 1
8 Mvs, -100
9 Cmp Off
[Explanation]
(1) This instruction cancels the compliance mode started by the Cmp Tool, Cmp Pos, or Cmp Jnt instruction.
(2) In order to cancel jog operations in the compliance mode, either execute this instruction in a program or
execute it directly via the program edit screen of the T/B.
(3) If the error H115n (Large command position) occurs at the time of execution of the Cmp Off command,
executing Mov P_Fbc before the Cmp Off may prevent the error occurrence.
[Related instructions]
CmpG (Compliance
(Compliance Joint)
4-188 Detailed explanation of command words
' Moves to 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.
Gain), Cmp Tool (Compliance Tool), Cmp Pos (Compliance Posture), Cmp Jnt