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.

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.

Set the tip load exactly. Your robot may fall in the direction of gravity when the tip load setting and the actual tip load differ. You can execute SetGrvOffset to prevent a fall due to gravity.