Initializes the allowable deviation values of the position and the posture of the tool end under the compliance control (exclusively designed for 6-axis robots).

ST_ResetCompEralw

Initializes the allowable deviation values of the position and the posture of the tool tip under the compliance control. The initial values of allowable deviation are 100 (mm) along X, Y, and Z and 30 (degree) about X, Y, and Z.

ST_SetCompEralw

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.