Initializes the allowable deviation values of the position and the posture of the tool tip under the compliance control (dedicated command for 6-axis).

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.

<pacman.h> is required.

SetCompEralw

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.