ST_ResetFrcAssist
(Statement)
[Version 1.9 or later]
Initializes the force assistance (special compliance control function statement) (exclusively designed for 6-axis robots).
ST_ResetFrcAssisit
Initializes the force assistance along and the moment assistance about X, Y, and Z-axes of a coordinate system specified by ST_SetFrcCoord are set to 100%.
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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STResetCompControl
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'Disable the compliance control
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ST_ResetFrcAssist
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'Initialize the force assistance and the
'moment assistance
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