Features
This function terminates compliance control and begins position control at the current position.
Return
|
Value |
Description |
|---|---|
|
0 |
Success |
|
Negative value |
Error |
Exception
|
Exception |
Description |
|---|---|
|
DR_Error (DR_ERROR_RUNTIME) |
C extension module error occurred |
|
DR_Error (DR_ERROR_STOP) |
Program terminated forcefully |
Example
Python
P0 = posj(0,0,90,0,90,0)
movej(P0, vel=30, acc=30)
task_compliance_ctrl()
set_stiffnessx([100, 100, 300, 100, 100, 100])
release_compliance_ctrl()
Related commands
Keyword
release / compliance / ctrl / release_ / release_compliance / release_compliance_