Screwdriver; Pick Screw - OnRobot HEX-E QC User Manual

OPERATION
TCP
The command is used to set the current TCP and/or payload for the robot.
TCP
TCP offset
Set the Linear offset (X,Y,Z) and the Rotation in RPY (Roll-Pitch-Yaw) values to adjust the
OnRobot device dependent calculated TCP.
Payload
Modify Tool payload: If enabled the UR's payload will be overwritten.
enter the workpiece mass that is attached to the device. The device own mass is added
automatically.
Use TCP offset for CoG: set the center of gravity of the workpiece at the active TCP position.
Center of gravity CX, CY, CZ: set the location of the center of gravity of the workpiece.

6.1.5. Screwdriver

6.1.5.1. Pick Screw

When the
Pick Screw
align it with the screw head, then it will pick up the screw and hide it inside the housing.
In the 6.6.5. Feedback Variables
result of the command are explained.
The different functions are explained below.
100
command is executed, the screwdriver will move and rotate the bit to
section, the variables that provides information about the