ResetFrcAssist
(Library)
[Version 1.4 or later]
Initializes the force assistance (special compliance control function library) (dedicated command for 6-axis).
ResetFrcAssisit
Initializes the force assistance along and the moment assistance about X, Y, and Z axes of a coordinate system specified by SetFrcCoord are set to 100%.
<pacman.h> is required.
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.
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CALL ResetCompControl
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'Disable the compliance control
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CALL ResetFrcAssist
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'Initializes the force assistance and the moment assistance
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