Glossary

Description

  • Automatic Screwdriver/Nut Runner:
    A tool mounted to the robot's tool output flange used for tightening screws or nuts automatically.

  • Base Joint:
    The first joint of the robot, located at the base.

  • Continuous Fastening:
    A technique where torque is increased continuously until the target is reached.

  • Elbow Joint:
    The second joint of the robot, located at the elbow.

  • Fast-Steady Mode:
    A mode where the robot instantaneously changes into steady mode when torque reaction is detected, allowing higher currents/torques and larger deviations.

  • Force Limits:
    Restrictions on the forces exerted by the robot at the Tool Center Point (TCP) and elbow joint.

  • Joint Deviations:
    The difference between the target joint position and the actual joint position, often resulting in protective stop warnings.

  • Joint Torque Maximum Values:
    The maximum torque values that each joint can withstand.

  • Lever Arm:
    The perpendicular distance from the axis of rotation to the line of action of a force, used to understand the impact of torque reaction on the robot.

  • Payload:
    The weight and center of gravity of the load attached to the robot's tool output flange.

  • Protective Stop:
    A safety mechanism triggered when joint deviations exceed allowed limits.

  • Pulse-Driven Tools:
    Tools that apply torque in a sequence of increasing pulses, reducing torque reaction compared to continuous fastening.

  • Reaction Devices:

    Devices mounted on the tool to counteract torque reaction by pushing against the workpiece or fixture.

  • Real-Time Data Exchange:

    An interface for recording data from the robot, including joint angles, currents, torques, TCP pose, and force.

 

  • Screwdriving Functionality:

    An advanced command and installation setup in PolyScope for setting up screwdriving applications, including fast-steady mode.

  • Steady Mode:

    A state where higher currents/torques are permitted for the robot to maintain its position, and larger deviations are allowed before triggering a protective stop.

  • Target Torque:

    The desired torque value to be achieved during the screwdriving process.

  • TCP (Tool Center Point):

    The position at the tip of the screwdriver or nut runner where it contacts the fastener.

  • Torque Arms:

    Devices used to absorb and transfer reaction force from the robot to an external frame or structure.

  • Torque Reaction:

    The force transferred to the robot from the tightening process that the robot needs to counteract.

  • Wrist Joint:

    The final joint of the robot, located at the wrist.

  • Zeroing F/T Sensor:

    The procedure of calibrating the Force and Torque Sensor without any external forces influencing the readings.