Screwdrive Until - Universal Robots e-Series Original Instructions Manual

Select Enable Machine Error Handler, to add a corrective measure, if required, to the
Program Tree before the screwdriving actions begins.
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.
CAUTION
Place the screwdriver bit above the screw before starting a screwdriving
program. Exerting any force on the screw can affect the screwdriving
program performance.
• Speed: Select a fixed Tool Speed and Accelerationfor the robot to follow the screw.
• Expression: Similar to the If command
describe the condition under which the robot follows the screw.

7.13.9. Screwdrive Until

The Screwdriving program node includes a mandatory until success Until node that defines stop
criteria for the screwdriving process.
You can define the following stop criteria:
e-Series
(see 7.12.2. If on page 88), select Expression to
110
7. Program Tab
Software Manual