is_done_bolt_tightening (Auto Mode)

This section explains how to use is_done_bolt_tightening during Auto (Run) operations to monitor and validate torque-based fastening completion. The function checks whether the tool’s measured torque along a specific axis reaches a user-defined target value (N·m) within the given timeout period.

It is primarily used during automated assembly, bolt fastening, or torque verification to confirm when the tightening process has reached the required torque threshold.

Typical usage

  • Validate whether the robot has completed the desired bolt tightening torque during automated processes.

  • Implement conditional logic (while or if) to detect the completion of torque-based assembly in automation.

  • Combine with task_compliance_ctrl for torque-controlled automated operations.

  • Log or display torque achievement feedback for process validation or automated quality assurance.

Note

  • This function is non-blocking and can be called iteratively in auto control loops during automated processes.

Example: Automated Torque Verification During Bolt Tightening

#include "DRFLEx.h"
#include <cstdio>
#include <thread>
#include <chrono>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Preconditions:
    // - Connection established
    // - Auto mode active, servo ON
    // - Torque/force sensor calibrated
    // - Robot positioned near the tightening location

    // 1) Move to initial bolt position
    float fPos1[6] = {0.f, 0.f, 0.f, 0.f, 0.f, 0.f};
    drfl.movej(fPos1, 30.0);
    drfl.mwait();

    // 2) Enable compliance control for torque-based operation
    drfl.task_compliance_ctrl();

    // 3) Monitor tightening torque (target = 10 N·m, timeout = 5 sec)
    bool bTightened = drfl.is_done_bolt_tightening(FORCE_AXIS_Z, 10.0f, 5.0f);

    // 4) Display result
    if (bTightened)
        std::printf("Tightening complete: torque reached 10 N·m or higher.\n");
    else
        std::printf("Timeout: target torque not reached within 5 seconds.\n");

    // 5) Release compliance control after verification
    drfl.release_compliance_ctrl();

    return 0;
}

In this example, the robot checks whether the applied torque on the Z-axis reaches 10 N·m within 5 seconds while operating under compliance control. This allows real-time validation of torque completion during automated tightening processes.

Tips

  • Always activate task_compliance_ctrl before using this function for automated tightening.

  • Set fTargetTor based on the required torque for the specific tightening task.

  • Adjust fTimeout to accommodate the expected duration of the automated tightening process.

  • Use FORCE_AXIS_Z for typical bolt-tightening applications (rotational torque) in auto mode.

  • Combine with check_force_condition to ensure both torque and force thresholds are satisfied before proceeding with the next task in the automated cycle.

  • For automated cycles, consider calling this function periodically (every 100–200 ms) to detect torque achievement in real time during the tightening phase of automated operations.