is_done_bolt_tightening(m=0, timeout=0, axis=None)
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.
Parameters
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
m | float | 0 | Target torque |
timeout | float | 0 | Monitoring duration [sec] |
axis | int | - | axis
|
Return
| Value | Description |
|---|---|
0 | Success |
Negative value | Error |
Exception
| Exception | Description |
|---|---|
DR_Error (DR_ERROR_TYPE) | Parameter data type error occurred |
DR_Error (DR_ERROR_RUNTIME) | C extension module error occurred |
DR_Error (DR_ERROR_STOP) | Program terminated forcefully |
Example
PY
p0 = posj(0,0,90,0,90,0)
movej(p0, v=30, a=30)
task_compliance_ctrl()
xd = posx(559, 34.5, 651.5, 0, 180.0, 60)
amovel(xd, vel=50, acc=50) # Bolt tightening motion
res = is_done_bolt_tightening(10, 5, DR_AXIS_Z)
# Returns True if the tightening torque of 10Nm is reached within 5 seconds.
# Returns False otherwise.
if res==True:
# some action comes here for the case that bolt tightening is done
x=1
else:
# some action comes here for the case that it fails
x=2