Skip to main content
Skip table of contents

Bolting

This is a skill 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.

  1. Recommended Default WCI: Tool (ScrewDriver)
  2. Create Skill: TaskBuilder → Add ScrewDriver (Skill Type: End-Effector & Pattern)
  3. Optional Features: Add pattern, approach pose and retract pose setting, Compliance Control
  4. Confirm Condition:
    1. Select ScrewDriver and Pattern and press the Set button (pattern selection can be omitted).
    2. Save Teaching Pose
    3. Even if a pattern is not used, gLoopCountRev must be selected under Repeat Condition.

Default Motion Sequence

  1. Default Mode
    Move to Approach Pose → Move to Start Pose (point from Teaching Pose - bolt length) → Move to Teaching Pose (if a pattern is added, move to Pattern Calculation Pose) → Tool Motion (Run) (in case of Vacuum Type, Vacuum_Off) → Move to Retract Pose

  2. Reverse Mode
    Move to Approach Pose → Move to Teaching Pose (if a pattern is added, move to Pattern Calculation Pose) → Move to Start Pose (point from Teaching Pose - bolt length) → Tool Motion (Run) → Move to Retract Pose

Definition of Skill Screen

Item

Description

Default Value and Input Range

Basic Setting

Tool

I/O test available upon screwdriver selection

 

Pattern

Select if a pattern is used


Reference Pose

Teaching Pose

- This is the bolting start position.

- Reference Pose changes to Position Referenced 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 a 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 Setting Status

- When Set TCP is set to True, it configures the TCP of the End-Effector used by the skill.

True

[True, False]

Vacuum Type (Option)

Select Vacuum Support Status

False

[True, False]

Tool Wait Time

Standby time after tool run motion.

0.5 s

[0 ~ 10000]

Check TorqueOK (Option)

Select Bolt Installation Completion Status Check

False

[True, False]

Approach Pose Setting

(Option)

Approach Distance

Distance from the teaching pose in x, y and z directions

- The approach distance must be entered in a 1 x 3 array (i.e. [x, y, z]).

- During pattern setting, the approach distance set in the pallet UI is applied.

[0, 0, -100] mm

[Individually -1000 ~ 1000]

Velocity for App. Pose

This is the motion velocity to the approach pose.

250 mm/s

[0.001 ~ 8000]

Acceleration for App. Pose

This is the motion acceleration to the approach pose.

0.25 m/s2

[0.001 ~ 20]

Motion Time for App. Pose

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 for App. Pose

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, all optional items (Set TCP / Compliance Control / Reverse Mode) must be set as False.

0 mm

[0 ~ 1000]

Retract Pose Setting

(Option)

Retract Distance

Distance from the teaching pose in x, y and z directions

- The retract distance must be entered in a 1 x 3 array (i.e. [x, y, z]).

- During pattern setting, the retract distance set in the pallet UI is applied.

[0, 0, -100] mm

[각각: -1000 ~ 1000]

Velocity for Ret. Pose

This is the motion velocity to the retract pose.

100 mm/s

[0.001 ~ 8000]

Acceleration for Ret. Pose

This is the motion acceleration to the retract pose.

0.1 m/s2

[0.001 ~ 20]]

Motion Time for Ret. Pose

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 for Ret. Pose

This is the blending radius connecting the movement between the teaching pose and the retract pose.

0 mm

[0 ~ 1000]

Compliance Control Setting

Compliance control (Option)

Select Compliance Control Status

False

[True, False]

Stiffness

Stiffness Setting

x=y=z= 3000 N/m

[0 ~ 20000]

rx=ry=rz= 200 Nm/rad

[0 ~ 1000]

JavaScript errors detected

Please note, these errors can depend on your browser setup.

If this problem persists, please contact our support.