ST_ResetGravity
(Statement)
[Version 1.9 or later]
Disables the balance setting between the limited motor torque and gravity torque, which is made with ST_SetGravity.
ST_ResetGravity
This command disables the balance setting between the motor torque limited by the current limit function and gravity torque.
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Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm-semaphore obtained, Error "21F7 Cannot take arm semaphore" will result.
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If this command is executed when the current limit function is enabled, Error "665B Cannot disable the gravity compensation" will result. Disable the current limit function and then try it again.
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If you set the gravity offset setting to "0" on the teach pendant, the gravity offset function becomes disabled. If you do it when the current limit function is enabled, Error 665b will result, as in step (2).
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ST_ResetGravity
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