is_done_bolt_tightening

This function monitors the tightening torque on a specified axis and returns True if the defined target torque is reached within the given timeout duration. If the torque target is not achieved within the timeout, the function returns False.

Definition
DRFLEx.h within class CDRFLEx, public section (line 962)

bool is_done_bolt_tightening(FORCE_AXIS eForceAxis, float fTargetTor = 0.f, float fTimeout = 0.f)
{
    return _is_done_bolt_tightening(_rbtCtrl, eForceAxis, fTargetTor, fTimeout);
};

Parameter

Name	Data Type	Default	Description
`eForceAxis`	FORCE_AXIS		Axis used for torque monitoring (e.g., `FORCE_AXIS_X/Y/Z`).
`fTargetTor`	`float`	0.0	Target torque value [N·m] for determining tightening completion.
`fTimeout`	`float`	0.0	Timeout duration [sec]. If 0, uses system default.

Return

Value	Description
`true (1)`	Tightening complete — target torque achieved within timeout.
`false (0)`	Timeout expired before reaching target torque.

Example A — Manual Mode (Torque Validation During Teaching)

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

int main() {
    CDRFLEx drfl;

    // Preconditions:
    // - Connected, servo ON, manual (teach) mode
    // - Tool torque sensor enabled and calibrated

    // 1) Move to starting position
    float q0[6] = {0.0f, 0.0f, 90.0f, 0.0f, 90.0f, 0.0f};
    drfl.movej(q0, 40.0);
    drfl.mwait();

    // 2) Enable compliance for torque-based operation
    float stiff[6] = {3000.f, 3000.f, 2000.f, 200.f, 200.f, 200.f};
    drfl.task_compliance_ctrl(stiff, COORDINATE_SYSTEM_TOOL);

    // 3) Monitor tightening torque (e.g., Z-axis, 10 N·m, 5 seconds)
    bool result = drfl.is_done_bolt_tightening(FORCE_AXIS_Z, 10.0f, 5.0f);

    if (result)
        printf("Tightening complete — target torque achieved.\n");
    else
        printf("Timeout — target torque not reached.\n");

    drfl.release_compliance_ctrl();
    return 0;
}

Example B — Auto Mode (Torque-Controlled Assembly Process)

// Preconditions:
// - Auto mode active
// - Tool equipped with torque feedback

// 1) Move to bolt location
float p_target[NUM_TASK] = {550.f, 150.f, 120.f, 180.f, 0.f, 0.f};
drfl.movel(p_target, (float[2]){80.f, 25.f}, (float[2]){300.f, 120.f});
drfl.mwait();

// 2) Enable compliance for torque application
float stiff[NUM_TASK] = {2500.f, 2500.f, 1500.f, 150.f, 150.f, 150.f};
drfl.task_compliance_ctrl(stiff, COORDINATE_SYSTEM_TOOL, 0.1f);

// 3) Apply small force to maintain contact
float fTarget[NUM_TASK] = {0.f, 0.f, 15.f, 0.f, 0.f, 0.f};
unsigned char dir[6] = {0, 0, 1, 0, 0, 0};
drfl.set_desired_force(fTarget, dir, COORDINATE_SYSTEM_TOOL, 0.3f);

// 4) Monitor torque buildup (completion at 8 N·m, within 4 seconds)
bool bTightened = drfl.is_done_bolt_tightening(FORCE_AXIS_Z, 8.0f, 4.0f);

if (bTightened)
    printf("Bolt tightening successful — target torque reached.\n");
else
    printf("Bolt tightening timeout — check tool or torque setting.\n");

// 5) Release control
drfl.release_force(0.3f);
drfl.release_compliance_ctrl();

Notes & Best Practices

Always ensure force/compliance control is active before torque monitoring.
Verify that the tool’s torque sensor is calibrated and operational.
In Auto mode, set appropriate timeout to prevent long blocking behavior in process cycles.
Combine with check_force_condition or release_force for safer and more adaptive torque-based automation workflows.
For multi-axis assembly or press-fitting, monitor torque in Z while limiting motion along X/Y axes.