ResetCompJLimit
(Library)
[Version 1.4 or later]
Initializes the current limit under the compliance control (special compliance control function library) (dedicated command for 6-axis).
ResetCompJLimit
Initializes the current limit under the compliance control and set 0 to all axes.
<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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'Disables the compliance control
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CALL ResetCompJLimit
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'Initializes the current limits
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