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