You will receive an error "60f5 Cannot execute compliance control", when this library 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 ResetCurLmt and 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 task holding robot control conditions (TAKEARM). If robot control conditions are not held, an error message "21F7 Arm semaphore cannot be fetched." is reported.

Execute while your robot is stopping. Executing this library in a path motion will cause an execution after stop. When you receive an error "600b Robot is in motion" after you execute this library while your robot is in motion, wait until your robot stops after issuing a command such as Delay.

When your robot moves due to an external force, you may receive an error "611* Excessive deviation". If this is the case, change the allowable deviation. Use SetEralw to change the allowable deviation.

Do not execute this library when a force such as a contact force is applied to your robot. Use SetCompControl to enable the compliance control function while a force is applied to your robot.

When a robot posture changes largely after you execute SetCompControl, an error may be generated in the compensation value for the gravity offset and your robot may move toward the direction of gravity. If the posture changes largely in the course of the compliance control, use ResetCompControl to disable the compliance control and execute SetCompControl again to enable the compliance control.