ScrewTighten Sequence and Object

The ScrewTighten sequence is a function used to move the robot by pressing in a specified direction with a specified amount of force. This is used for screw tightening using an electric screwdriver that can operate I/O. Furthermore, if the screw is jammed while screw tightening and the screw is not tightened correctly, it is possible to retighten the screw.

A ScrewTighten sequence is composed of two objects - a ScrewTighten object and a ScrewRetighten object. General force guide objects can also be added depending on the work procedure.

The diagram above provides a visual representation of a ScrewTighten object.
Executed from a non-contact state, this object moves the robot in the screw tightening direction depicted by the white arrow. From the point of contact, the robot tightens screws with a set amount of force in the screw tightening direction shown by the yellow arrow. The motion procedure up to this point is executed by a ScrewTighten object.

After this, if the screw is not tightened correctly, the robot continues to apply a set amount of force to loosen the screw and then retighten in the screw tighten direction as shown by the yellow arrow. This motion is executed by a ScrewRetighten object.

This chapter covers the sequence wizards and properties of ScrewTighten sequence, ScrewTighten objects, and ScrewRetighten objects, and describes how to configure them.
For more information about general force guide objects, see the next section.
Software General force guide object