ROBOTIQ SD-100 - Page 61

Robotiq Screwdriving Solution - Instruction Manual
3. The Screwdriver will perform an unscrewing sequence and record the parameters for successful screwdriving
sequence.
11. To test the Drive Screw sequence, you first need to go back to the waypoint that correspondsto the start of your teaching
sequence.
12. Place the screw and start the vacuum action.
13. Tap the Test button.
14. Confirm whether or not the screwdriving sequence hasexecuted correctly.
15. You can use the Unscrewfunction of the Screwdriver Toolbar to remove the screw.
Tip
Make sure to insert enough waypointswhen retracting from the screwdriving position in order to avoid collisions with
assets, material or workers.
Tip
Reduce the robot speed when executing the pick and screw sequence for the first few times.
Advanced Screwdriving Functions
The use of the Screwdriving URCap unlocksseveral advanced script functionsthat can be inserted into the robot program.
FunctionName Description
rq_screw_activate()
Activatesthe Screwdriver.
Inserting an rq_screw_activate()script function in the BeforeStart sequence
will ensure a systematic Screwdriver activation.
rq_screw_vacuum_on() Starts vacuum action.
rq_screw_vacuum_off() Stops vacuum action.
rq_is_screw_detected() Validatesthe presence of a screw via vacuum action.
rq_get_screw_fault() ReturnsScrewdriver error based on itsnumber (0=no error)
rq_pick_screw()
Performsa screw picking action.
Arguments:
l
screw_pose
l
status_input
l
test_in_action=False
l
approach_dist=10
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