5.5.3 Screw Dispenser............................................................................................................28
6 Control ..........................................................................................................................................31
6.1 URCap Commands ................................................................................................................31
6.1.1 Pick Bit...........................................................................................................................31
6.1.2 Pick Screw .....................................................................................................................32
6.1.3 Insert Screw...................................................................................................................33
6.1.4 Place Bit.........................................................................................................................37
6.2 Application Example –Simple Insertion ...............................................................................38
6.3 Application Example –Screw Insertion with Variable Pose..................................................39
6.4 URScript Commands .............................................................................................................40
6.4.1 URScript Functions for Program Nodes ........................................................................40
6.4.2 Low-level URScript Functions........................................................................................42
6.5 TCP Configuration .................................................................................................................43
6.5.1 Default TCP....................................................................................................................44
6.5.2 Automatically Measure TCP..........................................................................................44
7 SpinInterface.................................................................................................................................46
7.1 Ethernet Setup ......................................................................................................................46
7.1.1 Dashboard.....................................................................................................................46
7.1.2 Parts ..............................................................................................................................48
7.1.3 Screws ...........................................................................................................................51
7.1.4 Support..........................................................................................................................52
7.1.5 History...........................................................................................................................53
7.1.6 Notifications..................................................................................................................53
7.1.7 Settings..........................................................................................................................54
8 Mechanical Specifications.............................................................................................................56
8.1 Quick Changer Standard Interface........................................................................................56
8.2 SD35 Dimensions ..................................................................................................................57
8.3 Tightening Torque.................................................................................................................59
8.4 Moment of Inertia and Center of Mass ................................................................................59
8.5 Position of tool center point (TCP)........................................................................................59
8.6 Tool compliance and safety sensor.......................................................................................60
9 Electrical Specifications.................................................................................................................61
9.1 SD35 pinout interface ...........................................................................................................61
9.2 Status LED .............................................................................................................................62
9.3 SpinBridge .............................................................................................................................63
9.3.1 Digital Input & Output...................................................................................................63
