is_done_bolt_tightening (Manual Mode)

This section explains how to use is_done_bolt_tightening during Manual (Teach) 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 assembly teaching, bolt fastening, or torque verification to confirm when the tightening process has reached the required torque threshold.

Typical usage

  • Validate that a bolt or nut has reached the desired tightening torque during manual operation.

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

  • Combine with task_compliance_ctrl for torque-controlled teaching.

  • Record or display torque achievement feedback for process validation or manual calibration.

Note

  • This function is non-blocking and can be called iteratively in manual teaching loops.

Example: Manual Torque Verification During Bolt Tightening

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

int main() {
    CDRFLEx drfl;

    // Preconditions:
    // - Connection established
    // - Servo ON and Manual (Teach) mode active
    // - Torque/force sensor properly calibrated
    // - Robot positioned near 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 teaching
    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 manual teaching or assembly calibration.

Tips

  • Always activate task_compliance_ctrl before using this function.

  • Set fTargetTor based on the torque requirement of the tightening process.

  • Adjust fTimeout to accommodate the expected tightening duration.

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

  • Combine with check_force_condition to ensure both torque and force thresholds are satisfied before proceeding.

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