Mitsubishi Electric CR750-Q Instruction Manual page 205

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.
J2
J4
Positioning device
J2
J4
Positioning device
Fig.4-14:The example of compliance mode use
CAUTION
CAUTION
CAUTION
[Related system variables]
M_CmpDst
[Related instructions]
Cmp Off (Compliance
Joint)
+Y
Robot hand
J1
+X
O
P2
+Y
J1
+X
O
P2
The compliance mode is in effect continuously until the Cmp Off instruction is
executed, or the power is turned off. Exercise caution when changing the execut-
able program number or operating the jog.
To execute a jog operation after setting the compliance mode with the Cmp Pos
instruction, use the XYZ 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
P2
Positioning device
Gain), Cmp Tool (Compliance
Detailed explanation of command words 4-185
4MELFA-BASIC V
CMP POS, &B000011
000011
CBAZYX
CBAZYX
Soften the control of
axis X and Y in the
XYZ coordinates
system .
+Z
+Y
+X
Tool), Cmp Jnt (Compliance