Configuring The Screwdriver Interface; Safety - Universal Robots e-Series Original Instructions Manual

8. Installation Tab
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

8.15.3. Configuring the Screwdriver Interface

1. Use the Interface drop-down menu at the top of the screen to change the displayed content
based on signal type.
2. Under Input, configure the signals that the robot receives from the screwdriver:
• OK: High when tightening ends successfully, if not selected this condition is not
available in the Screwdriving program node
• NOK: High when tightening ends with errors, if not selected this condition is not
available in the Screwdriving program node
• Ready: High when the screwdriver is ready to be started, if not selected this condition
is not checked
3. Under Output configure the signals that the robot sends to the screwdriver:
• Start: starts the tool tightening or loosening a screw depending only on wiring.
• Program Selection: one integer, or up to four binary signals, can be selected to activate
different tightening configurations stored in the screwdriver
• Program Selection Delay: wait time to be used after changing the screwdriver's
program to make sure it is active

8.16. Safety

See chapter 5. Safety Configuration on
Software Manual
page 33.
141
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
e-Series