You will receive an error "60F5 Compliance control is not executable", when this statement is executed while the gravity offset is disabled and the current limiting is enabled. Execute again after you enable the gravity offset and disable the current limiting. See ST_ResetCurLmt and ST_SetGravity for disabling the current limiting and enabling the gravity offset respectively.

The compliance control will not be enabled while motors are off. The compliance control will be disabled when you turned off motors under the compliance control.

Execute this command in a TAKEARMed task has obtained arm semaphore. If this command is executed without arm semaphore obtained, an error "21F7 Cannot take arm semaphore" will result.

Execute this command when your robot is on halt. Executing this command in a pass motion will cause an end motion. If executing this command in a pass motion causes an error "600B Robot is running," then stop the robot with a Delay command and then execute this command.

If the robot is moved by any external force under compliance control, an error "611* J* excess error" may occur. In such a case, change the allowable deviation by using the ST_SetEralw.

This command should not be executed when the robot undergoes any force, e.g., in contact with any surrounding facility. To enable the compliance control in such conditions, use the ST_SetCompFControl.

If the robot posture greatly changes after execution of the ST_SetCompControl, then an error may be generated in the gravity offset compensation value and the robot may move in the direction of gravity. If the posture changes greatly under compliance control, use the ST_ResetCompControl to disable the compliance control and then execute the ST_SetCompControl again to enable the compliance control.