SetCompVMode
(Library)
[Version 1.4 or later]
Sets the velocity control mode under the compliance control (special compliance control function library) (dedicated command for 6-axis).
SetCompVMode
Enables the compliance velocity control mode when SetCompControl is executed.
<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 SetCompVMode
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'Enables the compliance velocity control mode
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CALL SetCompControl
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'Enables the compliance control
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