CDRFLEx.is_done_bolt_tightening

Features

This function monitors the tightening torque of the tool and returns True if the set torque (m) is reached within the given time and False if the given time has passed.

Parameter

Parameter Name	Data Type	Default Value	Description
eForceAxis	FORCE_AXIS	-	Refer to the Definition of Constant and Enumeration Type
fTargetTor	float	0	Target torque
fTimeout	float	0	Monitoring duration [sec]

Return

Value	Description
0	Failed
1	Success

Example

PY

float p0[6] = {0,0,90,0,90,0};
Drfl.movej(p0, 60, 30);
float stx[6] = {3000, 3000, 3000, 200, 200, 200};
Drfl.task_compliance_ctrl(stx);
float x1[6] = {559, 34.5, 651.5, 0, 180, 60};
float velx[2] = {50, 50};
float accx[2] = {50, 50};
Drfl.amovel(x1, velx, accx);
bool res = Drfl.is_done_bolt_tightening(FORCE_AXIS_Z, 10, 5);
int x = 0;
if(res){
    x = 1;
}
else{
    x = 2;
}