Universal Robots UR16e

Affect screwdriving
action
Selecting Follow the Screw, under Process, to affect the screwdriving
action in the following ways:
•
Force: Select Force to define how much force is exerted on a screw.
Then select Speed Limit, so the robot moves at this speed as long
as it does not come into contact with the screw.
CAUTION
Place the screwdriver bit above the screw before
starting a screwdriving program. Exerting any force
on the screw can affect the screwdriving program
performance.
•
Speed: Select a fixed Tool Speed and Accelerationfor the robot to
follow the screw.
•
Expression: Similar to the If command (see7.8.4. Ifon page241),
select Expression to describe the condition under which the robot
follows the screw.
User Manual 269 UR16e
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