Universal Robots e Series User Manual page 157

15.6 Advanced program nodes
A thread is a parallel process to the robot program. A thread can be used to control an external
machine independently of the robot arm. A thread can communicate with the robot program with
variables and output signals.
15.6.8 Screwdriving
The Screwdriving program node provides an easy way to add a screwdriving application for an
attached screwdriver. Configuring the screwdriver and its connections to the robot is defined in the
Installation Tab (see 16.1).
Adding a Screwdriving Node
1. In the Header, tap Program.
2. Under Advanced, tap Screwdriving.
3. Select Tighten to follow the screw in a tightening direction (in), or select Loosen to follow the
screw in a loosening direction (out). This selection only impacts the motion of the robot to
follow the screw and its measuring calculations.
4. In the Program Selection field, you can select a screwdriver program, depending on the Pro-
gram Selection signals in the Installation.
5. Select Enable Starting Point, to add a MoveL to the Program Tree that is executed when the
screwdriver is already running.
Selecting Follow the Screw, under Process, to affect the screwdriving action in the following ways:
• Force: Select Force to define how much force is exerted on a screw. Then select Speed Limit,
so the robot moves at this speed as long as it does not come into contact with the screw.
Version 5.4 II-67 e-Series