ROBOTIQ SD-100 - Software; Control over Universal Robots Package (Urcap)

Robotiq Screwdriving Solution - Instruction Manual
5.Software
5.1. Control Over Universal RobotsPackage (URCap)
The URCap package contains several featuresto program and control the Robotiq Screwdriver:
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Screwdriver Toolbar
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Automatically made available by installing the Screwdriving URCap package
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Allowsjogging the Screwdriver
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Vacuum ON/OFF
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Right-hand/left-hand unscrewing
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Testing the rotation clockwise and counterclockwise
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Pick Screw node
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Sets the picking position
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Assigns the Screw Feeder’s digital inputs
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Tests the picking sequence in Teach mode
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Executes the picking sequence at runtime
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Drive Screw node
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Allowsinserting a screwdriving command with features such as:
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Using a stop condition
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Adjusting the tool speed
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Applying force on the screw
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Teaching the action
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Testing the command.
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Advanced features include:
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Auto-detection of faulty screwdriving sequencesbased on error conditions
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Option to retry the screwdriving sequence on failure
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