If this command is executed when the gravity offset is disabled and the current limiter is disabled, then an error "60F5 Cannot execute compliance control" will occur.

Executing this command when the motors are off will not enable the compliance control. Under the compliance control, turning off the will disable the compliance control.

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

Execute this command when the 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 Error "600B Robot is running," then stop the robot with a Delay command and then execute this command.

Set the payload exactly. If the setting and actual payload differ, the robot arm may fall down in the direction of gravity. To prevent such a fall, execute the ST_SetGrvOffset.