OnRobot RG2-FT - Loosen Screw

Check results
Selecting one of the 3 options from the dropdown list and pressing Insert will add an if
statement in the robot program based on the selected option.
The Dropdown list options are:
•
Process successful: Uses the function get_sd_Process_OK() and returns true if the
command is executed correctly.
•
Process NOT successful: Uses the function get_sd_Process_NOK() and returns true if the
command is not executed correctly.
•
Torque: Uses the function sd_check_torque(0.04) and returns true if the
sd_Achieved_torque is within the range of the sd_Target_torque +/- the tolerance. This
tolerance is the number in brackets and can be edited by pressing on the if statement in
the robot program and then pressing on the if input field in the command.
Set screwing length
The image shows 3
dierent lengths:
A = This is the screw length, distance from the screw bit to the bottom part of the screw head.
B = This is the washer thickness (or piece in between screw and thread), if no piece is used
set it as 0. This amount will be subtracted from the Screw length to provide the resulting
Screwing length.
C = This is the chamfer deepness. This amount will be subtracted from the Screw length to
provide the resulting Screwing length.
The background of the A, B, and C
fields becomes yellow, respectively, when the Screwing
length is out of range.
6.1.5.3. Loosen Screw
When the Loosen Screw command is executed, the Screwdriver will move and rotate the bit
to align it with the screw head. Then, it will loosen and unscrew the screw until it is out the
thread
(specified Unscrewing length). Afterwards, it will hide the Screw-bit System inside the
housing.
In the 6.6.5. Feedback variables section, the variables that provides information about the
result of the command are explained.
The
dierent functions are explained below.
OPERATION
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