Screwdriving Process

Modify Screwdriving Parameters

0x5731 SCREWDRIVER_PARM_SET

Parent Parameters

Parameter	Type	Required	Description
proNum	int	Yes	Program number
torqueCorrection	int	No	Torque correction value, range: -10 ~ 10
tighten	object	Yes	Tighten parameters, see table below
loosen	object	Yes	Loosen parameters, see table below

tighten Parameters

Parameter	Type	Required	Description
rotationDir	int	Yes	Rotation direction: 0=CW, 1=CCW
targetTorque	double	Yes	Target torque, unit mN·m
rounds	array[double]	Yes	Rounds for steps 0-9, range: 0-20.0
speed	array[double]	Yes	Speed for steps 0-9, range: 10-1500
tightenMode	int	No	Tighten mode: 0=Standard, 1=Tapping, 2=High-speed
initDetectionAmountFlag	bool	No	Enable initial detection amount
initDetectionAmount	double	No	Initial detection amount (mN·m), range: 0-10
initTapTorqueFlag	bool	No	Enable initial tap torque
initTapTorque	double	No	Initial tap torque (mN·m), range: 10-700
torqueHoldTimeFlag	bool	No	Enable torque hold time
torqueHoldTime	double	No	Torque hold time (sec)
antiLimitFlag	bool	No	Enable negative-side allowable rounds
antiLimit	double	No	Negative-side allowable rounds, range: -10-0
positiveLimitFlag	bool	No	Enable positive-side allowable rounds
positiveLimit	double	No	Positive-side allowable rounds, range: 0-10
addTightenAngleFlag	bool	No	Enable additional tighten angle (°)
addTightenAngle	double	No	Additional tighten angle, range: -360-360
floatTightenAngleFlag	bool	No	Enable float height tighten angle (°)
floatTightenAngle	double	No	Float height tighten angle (°), range: 0-360
velSwitchTorqueRatioFlag	bool	No	Enable speed switch torque
velSwitchTorqueRatio	double	No	Speed switch torque ratio (%)
speedAfterSwitchFlag	bool	No	Enable speed after switch
speedAfterSwitch	double	No	Speed after switch (rpm), range: 10-1000

loosen Parameters

Parameter	Type	Required	Description
rounds	array[double]	Yes	Rounds for steps 0-1, range: -20.0-20.0
speed	array[double]	Yes	Speed for steps 0-1, range: 10-1000
rotationDir	int	Yes	Rotation direction: 0=CW, 1=CCW

Example

{
  "proNum": 1,
  "torqueCorrection": 0,
  "tighten": {
    "rotationDir": 0,
    "targetTorque": 1.1,
    "rounds": [1, 2, 3, 4, 5, 6, 7, 8, 9],
    "speed": [1, 2, 3, 4, 5, 6, 7, 8, 9],
    "tightenMode": 0,
    "initDetectionAmountFlag": true,
    "initDetectionAmount": 0,
    "initTapTorqueFlag": true,
    "initTapTorque": 0,
    "torqueHoldTimeFlag": true,
    "torqueHoldTime": 0,
    "antiLimitFlag": true,
    "antiLimit": -10,
    "positiveLimitFlag": true,
    "positiveLimit": 10,
    "addTightenAngleFlag": true,
    "addTightenAngle": 360,
    "floatTightenAngleFlag": true,
    "floatTightenAngle": 360,
    "velSwitchTorqueRatioFlag": true,
    "velSwitchTorqueRatio": 1,
    "speedAfterSwitchFlag": true,
    "speedAfterSwitch": 10
  },
  "loosen": {
    "rounds": [1.0, 2.0, 3.0],
    "speed": [1.0, 2.0, 3.0],
    "rotationDir": 0
  }
}

---

Teach Pendant Query Screwdriving Parameters

0x5732 SCREWDRIVER_PARM_INQUIRE

Parameter	Type	Required	Description
proNum	int	Yes	Program number

Example

{
  "proNum": 1
}

---

Send Screwdriving Parameters

0x5733 SCREWDRIVER_PARM_RESPOND

data field is the same as 0x5731 protocol.

---

Screwdriving IO Status Query

0x5735 SCREWDRIVER_IOSTATUS_INQUIRE

No request parameters.

Example

{}

---

Send IO Status

0x5736 SCREWDRIVER_IOSTATUS_RESPOND

Parameter	Type	Required	Description
input	array[int]	Yes	Input IO list
output	array[int]	Yes	Output IO list

Example

{
  "input": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10],
  "output": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
}

---

Screwdriving Locking Result Query

0x5738 SCREWDRIVER_TWISTRES_INQUIRE

No request parameters.

Example

{}

---

Send Locking Result

0x5739 SCREWDRIVER_TWISTRES_RESPOND

Parent Parameters

Parameter	Type	Required	Description
screwDriver	object	Yes	Screwdriving locking result data

screwDriver Parameters

Parameter	Type	Required	Description
count	int	Yes	Count
start	int	Yes	Start value
sum	int	Yes	Total number of tighten result programs
proNum	array[int]	Yes	Program number list
rounds	array[double]	Yes	Rounds list
torque	array[double]	Yes	Torque value list
tightenTime	array[double]	Yes	Tighten time list
result	array[int]	Yes	Result list
error	array[int]	Yes	Error details list

Example

{
  "screwDriver": {
    "count": 10,
    "start": 1,
    "sum": 10,
    "proNum": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10],
    "rounds": [1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0],
    "torque": [1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0],
    "tightenTime": [1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0],
    "result": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10],
    "error": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
  }
}