ROBOTIQ SD-100 - Page 62

Robotiq Screwdriving Solution - Instruction Manual
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rotation_speed=500
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pick_speed=25
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timeout=90
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retract_speed=40
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direction=RQ_DIRECTION_CCW
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slave_id=9
rq_screw_with_force()
Performsa screwing action until the torque value is reached and with a force
applied on the screw.
Arguments:
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operation_mode=RQ_MODE_NORMAL
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regulation_mode=RQ_REGULATION_MODE_CURRENT_WITH_RAMP_
DOWN
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rotation_current=torque setpoint (Nm)
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rotation_speed
Info
Minimum value: 1 RPM
Maximum value: 500 RPM
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rotation_angle
Info
If the regulation_mode isRQ_REGULATION_MODE_ANGLE, then
rotation_angle isthe number of degrees to rotate before the
Screwdriver stops.
Minimum value: 1
Maximum value: 240000
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teach_thread_mating_position
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teach_final_position
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expected_final_position
Info
Final position reached at the end of the screwdriving action.
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force=10
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timeout=10
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