ST_SetCompVMode
(Statement)
[Version 1.9 or later]
Sets the velocity control mode under the compliance control (special compliance control function statement) (exclusively designed for 6-axis robots).
ST_SetCompVMode
Enables the compliance velocity control mode when ST_SetCompControl is executed.
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.
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ST_SetCompVMode
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'Enable the compliance velocity control mode
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ST_SetCompControl
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'Enable the compliance control
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