Pick Bolt | V3-manual

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.

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 Setting	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]
Compliance Control Setting (Option)	Stiffness	Stiffness Setting	x=y=z 3000 N/m [0 ~ 20000] rx=ry=rz 200 Nm/rad [0 ~ 1000]