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 your robot stops suddenly, and you receive an error "612* Over current" after you execute this library while your robot is in motion, Set 1 to <Set value> or wait until your robot stops after issuing a command such as Delay.

You will receive an error "60f9 Abnormal operation in disabling compliance control", if you execute a step back or a program reset after a momentary stop during executing this library.

When you use 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 ResetCompControl. If this is the case, use ResetEralw to initialize the allowable deviation values after disabling the compliance control.

You may receive an error "608* J* Directed speed limit was exceeded". If this is the case, use aspChange to change the optimal load capacity mode to 2 or 3 before you execute ResetCompControl and resume the optimal load capacity mode to the previous value after the execution.