release_compliance_ctrl()
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
PY
P0 = posj(0,0,90,0,90,0)
movej(P0)
task_compliance_ctrl()
set_stiffnessx([100, 100, 300, 100, 100, 100])
release_compliance_ctrl()