Universal Robots E Series Original Instructions Manual page 236

• Configure the Position to be the tip of the screwdriver tool where it contacts the screw.
• Configure the Orientation so that the positive Z direction is aligned to the length of the
screws to be tightened.
You can visualize the X, Y and Z coordinates of the selected TCP to confirm it matches the
tool's bit or socket.
The Screwdriving program node
direction of the selected TCP to follow the screw and calculate distances.
Typical Orientation values (in Rotation Vector [rad] notation) are illustrated in the following table.
Screwdriving axis parallel to the negative Y
direction of the robot's tool flange
Screwdriving axis parallel to the positive Y
direction of the robot's tool flange
Screwdriving axis parallel to the positive X
direction of the robot's tool flange
Screwdriving axis parallel to the negative X
direction of the robot's tool flange
Screwdriving axis parallel to the positive Z
direction of the robot's tool flange
Screwdriving axis parallel to the negative Z
direction of the robot's tool flange
UR5e
(see 23.13.8. Screwdriving on
222
24. Installation Tab
page 191) uses the positive Z
Orientation
• RX: 1.5708 rad
• RY: 0.0000 rad
• RZ: 0.0000 rad
Orientation
• RX: -1.5708 rad
• RY: 0.0000 rad
• RZ: 0.0000 rad
Orientation
• RX: 0.0000 rad
• RY: 1.5708 rad
• RZ: 0.0000 rad
Orientation
• RX: 0.0000 rad
• RY: -1.5708 rad
• RZ: 0.0000 rad
Orientation
• RX: 0.0000 rad
• RY: 0.0000 rad
• RZ: 0.0000 rad
Orientation
• RX: 3.1416 rad
• RY: 0.0000 rad
• RZ: 0.0000 rad
User Manual