Universal Robots UR3e

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.
UR3e 264 User Manual
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