# Impedance Control Example DR
### HMI Panel File
{% file src="" %}
### Script File
```python
from DRCF import *
# impedance control gains
Kp = 50
Kd = 40
running = False
# impedance control function
def start_task():
global running
# setup compliance parameters
stiffness = [Kp*200, Kp*200, Kp*200, Kp*4, Kp*4, 400]
damping = [max(0.1, Kd*0.02), max(0.1, Kd*0.02), max(0.1, Kd*0.02), max(0.1, Kd*0.02), max(0.1, Kd*0.02), 1]
# home position
movej(posj(90, 0, -90, 0, -90, -85.0), v=30, a=100)
set_external_force_reset()
# start impedance control
task_compliance_ctrl(stx=stiffness)
set_damping_factor(damping)
# wait for user to stop impedance control
running = True
while running:
wait(1)
# resume position control
release_compliance_ctrl()
```
### Task File
{% file src="" %}