Universal Robots UR16e

Screwdrive Until
Description The Screwdriving program node includes a mandatory until success Until
node that defines stop criteria for the screwdriving process.
You can define the
following stop
criteria:
•
Success: Screwdriving continues until completion is detected using
your selected option. You can only add one success condition.
•
Error: Screwdriving continues until an error is detected using your
selected option/s. You can add more than one error condition.
Criteria Success
•
OK: Screwdriving continues until an OK signal from
the screwdriver is detected.
•
Time: Screwdriving continues upto a defined time.
•
Distance: Screwdriving continues upto a defined
distance.
•
Expression: Screwdriving continues until a custom
expression condition is met.
Error
•
Not OK: Screwdriving stops when a NOT OK signal
from the screwdriver is detected.
•
Distance: Screwdriving stops when the defined
distance is exceeded.
•
Timeout: Screwdriving stops when the defined time is
exceeded.
UR16e 270 User Manual
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