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.

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 when the robot is in motion immediately stops the robot or causes Error "612* J* overcurrent," then set the value to "1" or stop the robot by using the Delay command.

If the robot comes to a momentary stop during execution of this command so that you perform a Step back or Program reset, then Error "60F9 Improper compliance set/reset operation" will occur.

If you use ST_SetEralw to change the allowable deviation values while the compliance control is enabled, the allowable deviation values will return to their initial values. The allowable deviation values may not be reset to the initial values when an error occurs while executing ST_ResetCompControl. If this is the case, use ST_ResetEralw to initialize the allowable deviation values after disabling the compliance control.

If Error "608* J* command speed limit over" occurs, use the ST_aspChange to change the optimal load capacity mode to 2 or 3 before execution of the ST_ResetCompControl. After execution of this command, return the optimal load capacity mode to the previous value.