Universal Robots E Series

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NOTE

If there is a Conveyor Tracking node inside an If, ElseIf or Loop, and the Check

Expression Continuously option is selected, you can add an end_

conveyor_tracking() script at the end of the expression to exit conveyor

tracking.

23.13.8. Screwdriving

The Screwdriving program node provides an easy way to add a screwdriving application for an

attached screwdriver. Configuring the screwdriver and its connections to the robot is defined in the

Installation Tab (see24.1. Generalon page205).

Adding a Screwdriving Node

1. In the Header, tap Program.

2. Under Templates, tap Screwdriving.

3. Select Tighten to follow the screw in a tightening direction (in), or select Loosen to follow the

screw in a loosening direction (out). This selection only impacts the motion of the robot to

follow the screw and its measuring calculations.

4. In the Program Selection field, you can select a screwdriver program, depending on the

Program Selection signals in the Installation.

5. Select Enable Starting Point, to add a MoveL to the Program Tree that is executed when the

screwdriver is already running.

User Manual 191 UR5e

23.Program Tab

Universal Robots E Series - Screwdriving