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 |
enum.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
C++
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;
}