Put on tool TCP

Checkbox

no

A decision parameter which determines whether the screw should be attached to the tool TCP or placed  at the target location.

Joining height

Selection

no

A selection parameter that defines the relative position of the hand with respect to the body at which the objects are screwed together.

Distance

Selection

no

A selection parameter defining the disposition of the handled objects with respect to the body in the frontal plane.

Transversal position

Selection

no

A selection parameter determining the distance of the handled objects to the centre of the body.

Tool to use

Object

no

An object parameter for tool selection

Fasteners

Object

no

Screws which need to be placed on the targets.If screws are defined then the number of screws must correspond to the number of defined targets.

Reference fasteners

Object

no

Objects/markers (targets) which act as reference object(s) for placing the screws.

List of objects to place

Object

no

Object parameter for selecting the components to fasten.

Reference object

Object

no

Object parameter for selecting the target for the components to fasten.

Automatic walking

Checkbox

yes

A decision parameter determining whether the human model will automatically walk to the indicated target point / target object.

TCP (tool center point)

Object

no

An object parameter defining the tool center point. If no TCP is selected, the first existing one of the tool is used.

Use left hand

Checkbox

no

A decision parameter determining whether the motion will be performed using the left or the right hand.

Hand target to fix component(s)

Position & orientation

no

A coordinate parameter which defines the position and orientation of the hand while fixing the component by screwing.

Second hand support

Checkbox

no

A decision parameter determining whether the other hand will be used for support during handling of the tool (e.g. to hold a drilling machine).

Use given target orientation

Checkbox

no

A decision parameter determining whether the orientation of the target will be used for tool orientation.

Tool movement type

Selection

no

A selection parameter defining the manner in which the tool need to be used.

Tool usage process time [s]

Floating-point number

no

A value parameter defining the time per cycle for which the tool and the target are in contact.

Pick component(s) first

Checkbox

no

A decision parameter which determines whether the component needs to be picked before the fasteners.

Component(s) / fasteners in same hand

Checkbox

no

A decision parameter which determines whether the component(s) and the screws need to be picked with the same or different hands.

Fasteners prepositioned

Checkbox

no

A decision parameter which determines whether the screws are already prepositioned on the component(s) or need to be collected and placed.

Position component(s) first

Checkbox

no

A decision parameter which determines whether the component needs to be pre-positioned before taking the tool or the tool must be taken first before prepositioning the component.

Return tool

Checkbox

no

A decision parameter which determines whether the tool after the execution need to be taken back to from where it is picked.

Screw-in-cycle count [#] (with helper tool)

Integer

no

A value parameter which defines how many rotation activities are required for prescrewing/threading with a helper tool. It is only used in case of rotatory tool handling.

Screw-in-cycle count [#] (by hand)

Integer

no

A value parameter which defines how many rotation activities are required for prescrewing/threading by hand. 2 screwing cycle corresponds to one thread. It is only used if screws have to be tacked.

Tack first screws [#]

Integer

no

A value parameter, which determines how many screws are to be tacked and screwed. The process time used for this has been set with ¼ of the specified process time. These screws are screwed in at the end.

Body movement type

Selection

no

A selection parameter used to select the upper body posture while picking-up the object.

Lock leg movement

Checkbox

no

A decision parameter determining whether the human model is allowed to squat or not during the task execution.

Pick fasteners separately

Checkbox

no

A decision parameter which determines whether the screws need to be picked individually or together using whole hand. This parameter influences the time analysis.

Pick component(s) separately

Checkbox

no

A decision parameter which determines in case of several components whether they need to be picked individually or together using whole hand. This parameter influences the time analysis.

Push distance > 6 mm

Checkbox

no

A decision parameter used for evaluation and documentation purposes. If the checkbox is activated, a push distance bigger than 6 mm is assumed.

Extra high force effort with delay

Checkbox

no

A decision parameter used for evaluation and documentation purposes. It determines whether an increased effort should be included in the evaluation. If the effort is higher than the value entered under options, the positioning accuracy is automatically set to close.

Additional pick and place

Checkbox

no

A decision parameter used for evaluation and documentation purposes. It determines whether an additional picking and placing should be included in the evaluation.