Bolting | V3-manual

This is a command for teaching the target pose with a screwdriver and installing bolts while moving from the start pose to the teaching pose, considering bolt length.

If the screwdriver supports [Reverse Mode], it can remove bolts while moving from the teaching pose (bolt installation position) to the start pose.

Basic Information

Item	Description
Recommended Device	Screw Driver
Optinal Features	Pattern Approach Pose / Retract Pose Setting
Command Completion Condition	Setting [End Effector] Setting [Reference Pose] If set [Pattern], setting [Repeact Condition] in [Task Setting]
Support Robot Series	E, A, AS, M, H

Default Motion Sequence

Default Mode
Move to [Approach Pose] → Move to Start Pose (point from [Reference Pose] - [Bolt Length]) → Move to [Reference Pose] (if [Pattern] is set, move to Pattern Calculation Pose) → [Run] action of [End Effector] (in case of [Vacuum Type], [Vacuum_On]) → Move to [Retract Pose]

[Reverse Mode]
Move to [Approach Pose] → Move to [Reference Pose] (if [Pattern] is set, move to Pattern Calculation Pose) → Move to Start Pose (point from [Reference Pose] - [Bolt Length]) → [Run] action of [End Effector] → Move to [Retract Pose]

Definition of Screen

Item		Description	Default Value and Input Range
Basic Setting	End Effector	I/O test available upon tool selection
	Pattern	Select if a pattern is used
	Reference Pose	Teaching Pose This is the bolting start position. [Reference Pose] changes to [Referencing Pattern Position] during pattern setting.
Task Setting	Reverse Mode (Option)	Reverse Mode Setting	False [True, False]
	Task Direction	Bolt Installation Orientation	Z [X, Y, Z]
	Bolt Length	Bolt Length	10 mm [0 ~ 200]
	Bolting Velocity	Bolting Velocity	30 mm/s [0.001 ~ 8000]
	Bolting Acceleration	Bolting Acceleration	0.03 m/s² [0.001 ~ 20]
	Timeout	Bolting End Time	3 s [0 ~ 10000]
	Repeat Condition	Select Repeat Index The [Repeat Condition] is used as the pattern index when [Pattern] is used.
	Task Velocity	This is the velocity from the approach pose to teaching pose. During [Pattern] use, [Task Velocity] is the velocity until each pattern point.	100 mm/s [0.001 ~ 8000]
	Task Acceleration	This is the acceleration from the approach pose to teaching pose. During [Pattern] use, [Task Acceleration] is the velocity until each pattern point.	0.1 m/s² [0.001 ~ 20]
Tool Setting	Set TCP (Option)	Select TCP	Not Used [TCP items set in robot parameter]
	Set Tool Weight (Option)	Select Tool Weight If a workpiece is grasped, apply the weight information.	Not Used [Tool Weight items set in robot parameter]
	Set Tool Shape (Option)	Select Tool Shape	Not Used [Tool Shape items set in robot parameter]
	Vacuum Type (Option)	Select Vacuum Support Status	False [True, False]
	Torque OK (Option)	Select Bolt Installation Completion Status Check	False [True, False]
	Post-Tool Wait Time	This is the standby time after [Run] action of [End Effector].	0.5 s [0 ~ 10000]
Approach Pose Setting (Option)	Use	Select whether to use Approach Pose	True [True, False]
	Approach Distance	Distance from the teaching pose in x, y and z directions During [Pattern] setting, the [Approach Distance] set in the Pallet device is applied.	[0, 0, -100] mm [-99999.999 ~ 99999.999]
	Velocity	This is the motion velocity to the approach pose.	250 mm/s [0.001 ~ 8000]
	Acceleration	This is the motion acceleration to the approach pose.	0.25 m/s² [0.001 ~ 20]
	Motion Time	This is the motion time to the approach pose. If a motion time of greater than 0 is entered, the Velocity/Acceleration values are ignored.	0 s [0 ~ 10000]
	Blending Radius	This is the blending radius connecting the movement between the approach pose and the teaching pose. If a blending radius of greater than 0 is entered, [Reverse Mode] and [Compliance Control Setting] must be set as False.	0 mm [0 ~ 1000]
Retract Pose Setting (Option)	Use	Select whether to use Retract Pose	True [True, False]
	Retract Distance	Distance from the teaching pose in x, y and z directions	[0, 0, -100] mm [-99999.999 ~ 99999.999]
	Velocity	This is the motion velocity to the retract pose.	100 mm/s [0.001 ~ 8000]
	Acceleration	This is the motion acceleration to the retract pose.	0.1 m/s² [0.001 ~ 20]
	Motion Time	This is the motion time to the retract pose. If a motion time of greater than 0 is entered, the Velocity/Acceleration values are ignored.	0 s [0 ~ 10000]
	Blending Radius	This is the blending radius connecting the movement between the teaching pose and the retract pose.	0 mm [0 ~ 1000]
Compliance Control Setting (Option)	Use	Select whether to use the Compliance Control	False [True, False]
Compliance Control Setting (Option)	Stiffness	Stiffness Setting	x=y=z 3000 N/m [0 ~ 20000] rx=ry=rz 200 Nm/rad [0 ~ 1000]