You're reading the documentation for an older, but still supported version (1.33.4).
For information on the latest version, please have a look at 1.33.5.

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.

  • Use the return value in an if to branch on whether the target torque was reached.

  • Combine with task_compliance_ctrl for torque-controlled teaching.

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

Note

  • This function blocks until the target torque is reached or fTimeout expires, then returns the result.

Example: Manual Torque Verification During Bolt Tightening

// 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.f, 30.f);
drfl.mwait();

// 2) Enable compliance control for torque-based teaching
float stiffness[6] = { 2500.f, 2500.f, 2500.f, 150.f, 150.f, 150.f };
drfl.task_compliance_ctrl(stiffness);

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

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

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.

  • The call returns only when the controller answers, so do not poll it; set fTimeout to the longest tightening time you accept.