4-169 Detailed explanation of command words
4MELFA-BASIC IV
Cmp Off (Composition OFF)
[Function]
Release the soft control mode (compliance mode).
Note) The available robot types for this instruction are limited. Refer to "[Available robot type]".
[Format]
[Reference Program]
1 Mov P1 ' Moves to in front of the part insertion position.
2 CmpG 0.5, 0.5, 1.0, 0.5, 0.5, , , ' Set softness.
3 Cmp Tool, &B011011 ' The X, Y, A, and B axes are put in the state where they are con-
trolled in a pliable manner.
4 Mvs P2 ' Moves to the part insertion position.
5 M_Out(10)=1 ' Instructs to close the chuck for positioning.
6 Dly 1.0 ' Waits for the completion of chuck closing.(1 sec.)
7 HOpen 1 ' Open the hand.
8 Mvs, -100 ' Retreats 100 mm in the Z direction of the Tool coordinate sys-
tem.
9 Cmp Off ' Return to normal state.
[Explanation]
(1) This instruction cancels the compliance mode started by the Cmp Tool, Cmp Pos, or Cmp Jnt instruction.
(2) In order to cancel jog operations in the compliance mode, either execute this instruction in a program or
execute it directly via the program edit screen of the T/B.
[Available robot type]
[Related instructions]
CmpG (Composition Gain), Cmp Tool (Composition Tool), Cmp Pos (Composition Posture), Cmp Jnt (Comp
Joint)
Cmp[]Off
RV-6SD/6SDL/12SD12SDL series
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