Breadcrumbs

Pick Bolt

This is a command for picking up a bolt placed in a specific position by the bolt feeder using a screwdriver. If the screwdriver supports a vacuum, it can ensure stable bolt pick up.

스크린샷 2025-07-11 오후 10.25.42.png


Basic Information

Item

Description

Recommended Device

  • Screw Driver

  • Bolt Feeder

Optinal Features

  • Approach Pose / Retract Pose Setting

  • Compliance Control Setting

Command Completion Condition

  • Setting [End Effector]

  • Setting [Feeter]

  • Setting [Reference Pose]

Support Robot Series

E, A, AS, M, H


Default Motion Sequence

Move to [Approach Pose] → Move to [Reference Pose] → ScrewDriver Motion (in the case of a [Vacuum Type], [Vacuum_On]) (in the case of ScrewDriver, no separate motion) → Move to [Retract Pose]


Definition of Screen

Item

Description

Default Value and Input Range

Basic Setting

End Effector

I/O test available upon gripper selection

 

Feeder

I/O test available upon bolt feeder selection


Reference Pose

Teaching Pose

  • This is the position in which the screwdriver picks up a bolt


Task Setting

Task Velocity

This is the velocity from the approach pose to teaching pose.

100 mm/s

[0.001 ~ 8000]

Task Acceleration

This is the acceleration from the approach pose to teaching pose.

0.1 m/s2

[0.001 ~ 20]

Gripper 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]

Post-Tool Wait Time

Standby time after [Run] action of [End Effector].

0.5 s

[0 ~ 10000]

Feeder Setting

Check Bolt Ready (Option)

Select Bolt Ready signal standby

False

[True, False]

Feeder Type (Option)

Select Feeder type

Pick Up

[Pick Up, Shooting]

Post-Check Wait Time

Standby time after bolt ready signal completion

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

[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, [Check Bolt Ready] 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]

Stiffness

Stiffness Setting

x=y=z

  • 3000 N/m

  • [0 ~ 20000]

rx=ry=rz

  • 200 Nm/rad

  • [0 ~ 1000]