Property Setting

The following describes how to set a property which is necessary for "Screw Driving".

1. The mark is displayed on the flow chart by default. You need to set properties.
   
   Move the mouse pointer onto the mark to display the tool tips. The tool tips show settings or content which need to be modified.
   

2. Select the sequence flow of [ScrewUp]. Properties and Results are displayed.

3. Select "1" on the [RobotTool] property. Tool 1 is set.
   

4. Select the [PressMove01] object.
   Properties and Results are displayed.

5. Click the [Fz]-[ControlMode] property and select "Press+".
   Pressing downward is set to 6-axis robot. At this time, only the negative value can be entered in [Force].
   

   	6-axis robot	SCARA robot
   Robot motion image Pressing
   (Press/Contact) Orient	+Fz	-Fz
   Sign of Force (monitor display is included)	-	+

6. Change the following properties:

   Item		Value	Description
   I/O PreProcess	Enabled	True	Operate a specified Bit when an object starts.
   	OutputBit	Electric screwdriver rotation output bit	Set the electric screwdriver to rotate when the object starts.
   	OutputStatus	On	Enable a specified Bit when the object starts.
   Destination	DestType	Relative	Set a destination point by relative distance from the start point.
   	RelativeOrient	Tool	Set a destination point by relative distance on Tool coordinate system from the start point.
   Fx	ControlMode	Follow	Follow by the force control function.
   	Firmness	1	Set a firmness of the force control functions in X direction.
   Fy	ControlMode	Follow	Follow by the force control function.
   	Firmness	1	Set a firmness of the force control functions in Y direction.
   Fz	ControlMode	Press+	Mode of force control function.
   			Press+: The robot moves to a positive direction in Fz axis and presses.
   	Force	-1	Set an applied force in Z direction
   	Firmness	1	Set a firmness of the force control functions in Z direction.
   I/O End Conditions	Enabled	True	Set the end conditions related to I/O.
   	InputBit	Completion of screw driving	Set the object to end by a completion signal of screw driving.
   		Input bit
   	InputStatus	On	Make it an end condition that the input Bit is "On".

7. To prevent the screw hole from being damaged, make sure to tighten screws with an appropriate speed for both the screws and the electric screwdriver. Calculate the following and set an appropriate speed.
   SpeedS (mm/sec) = number of revolutions per second in an electric screwdriver (rps) × screw lead (mm)
   AccelS (mm/²)=SpeedS × 10
   If you set a distance for screw driving = screw length, tightening motion may stop in a middle of screw driving since the screw and its hole contact.
   It is necessary to add a margin as follows:
   DestRelativeZ(mm)= screw length (mm)+5(mm)
   

8. Click Epson RC+ menu-[File]-[Save All] to save the files.