Tightening Steps

Tighten/Loosen to Angle (A)

A – Tighten to Angle

This step runs the tool until the target angle is reached. The target angle is measured from the start of the step.

A – Loosen to Angle

This step runs the tool with the speed n in the backward direction until the angle target is reached. The target angle is measured from the start of the step.

Parameters

Parameter	Description
Target angle	The angle target. Must be > 0.
Brake	If On the tool will be stopped when the target is reached. If Off the program goes directly to the next step without stopping the tool.
Speed ramp type	Hard, soft, or manual. Default: Hard. If you select Manual, the Speed ramp field opens.
Speed ramp	If Speed ramp type is Manual, this field opens. Default: 500 rpm/s.
Speed	Default: 60 rpm.

T – Tighten/Loosen to Torque

T – Tighten to Torque

This step runs the tool with the programmed speed in forward direction until the target torque is reached.

Parameter	Description
Target torque	The torque target. Must be > 0.
Brake	If On the tool will be stopped when the target is reached. If Off the program goes directly to the next step without stopping the tool.
Speed ramp type	Hard, soft, or manual. Default: Hard. If you select Manual, the Speed ramp field opens.
Speed ramp	If Speed ramp type is Manual, this field opens. Default: 500 rpm/s.
Speed	Default: 60 rpm.

T – Loosen to Torque

This step runs the tool with the speed in the backward direction. For the step to be active, the torque must first exceed 110 % of the Target torque. The Target torque should be set to a positive value. After reaching the target torque, the step runs until the torque drops below the target torque.

Parameter	Description
Target torque	The torque target. Must be > 0.
Brake	If On the tool will be stopped when the target is reached. If Off the program goes directly to the next step without stopping the tool.
Stop on first torque	The step runs until the torque pass the Target torque. The Target torque should be set to a positive value.
Speed ramp type	Hard, soft, or manual. Default: Hard. If you select Manual, the Speed ramp field opens.
Speed	Default: 60 rpm. Must be > 0.
Speed ramp	If Speed ramp type is Manual, this field opens. Default: 500 rpm/s.

T+A – Tighten to torque plus angle

This step runs the tool until the target torque is reached. From this point it continues to run an additional target angle.

Parameter	Description
Target torque	The torque target. Must be > 0.
Target angle	The angle target. Must be > 0.
Brake	If On the tool will be stopped when the target is reached. If Off the program goes directly to the next step without stopping the tool.
Speed ramp type	Hard, soft, or manual. Default: Hard. If you select Manual, the Speed ramp field opens.
Speed ramp	If Speed ramp type is Manual, this field opens. Default: 500 rpm/s.
Speed	Default: 60 rpm.

DI – Run Until Digital Input

This steps runs the tool, in the direction defined by parameter Direction, until the input specified by Digital Input goes high or low depending on the value of Stop Condition.

Parameter	Description
Direction	Forward, or Backward
Digital Input	One of the following local digital inputs on the controller can be selected: Local DI 1 Local DI 2 Local DI 3 Local DI 4
Stop Condition	Falling edge: The steps runs until a falling edge is detected after step start. Rising edge: The steps runs until a rising edge is detected after step start. Any edge: The step runs until a falling or a rising edge is detected after step start. Low: The step runs until low value is detected. High: The step runs until high value is detected.
Brake	If On the tool will be stopped when the target is reached. If Off the program goes directly to the next step without stopping the tool.
Speed (rpm)	Default: 60 rpm.
Speed ramp type	Hard, soft, or manual. Default: Hard. If you select Manual, the Speed ramp field opens.
Speed ramp	Available if Speed ramp type is Manual. Default: 500 rpm/s.

Tighten to DynaTork (DT)

This step runs the tool with speed n in the forward direction until the Target torque is reached. The tool will then hold the current constant at the DynaTork Percentage of Target torque during the DynaTork time.

To avoid overheating of the tool, it is strongly recommended to never run DynaTork to more than 40% of the maximum torque of the tool.

Parameter	Description
Target torque	The torque target. Must be > 0.
DynaTork time	The time DynaTork will be active.
DynaTork Percentage	The percentage of Torque target.
Brake	If On the tool will be stopped when the target is reached. If Off the program goes directly to the next step without stopping the tool.
Speed ramp type	Hard, soft, or manual. Default: Hard. If you select Manual, the Speed ramp field opens.
Speed ramp	If Speed ramp type is Manual, this field opens. Default: 500 rpm/s.
Speed (rpm)	Default: 60 rpm.

Wait (W)

In this step the tool waits the specified amount of time. The tool does not rotate while waiting.

The step before the Wait step must have the setting Brake set to On, that is, the Wait step must start with the tool standing still.

Parameter	Description
Wait Time	Number of seconds the tool will stand still.
Hold position	On or Off. If On, the tool holds the position during the Time target.

Parameter

Description

Wait Time

Number of seconds the tool will stand still.

Hold position

On or Off.

If On, the tool holds the position during the Time target.

Socket Release (SR)

This step runs the tool with speed n in the backward direction until the target angle is reached. The target angle is measured from the start of the step.

This step is only allowed to use as the last step in the tightening path of a multistep tightening program. However, it is possible to add a sync point after this step.

Parameter	Description
Target angle	The angle target. Default: 3º , must be > 0
Speed ramp type	Hard, soft, or manual. Default: Hard. If you select Manual, the Speed ramp field opens.
Speed ramp	If Speed ramp type is Manual, this field opens. Default: 500 rpm/s.
Speed	Default: 60 rpm.

Tighten to torque or angle (T|A)

This step runs the tool with the speed n in the forward direction until the first of either torque target or angle target is reached. The torque and angle measurements start at the beginning of the step.

Parameter	Description
Target torque	Must be > 0.
Target angle	Must be > 0.
Speed	Default: 60 rpm. Must be > 0.
Speed ramp type	Hard, soft, or manual. Default: Hard. If you select Manual, the Speed ramp field opens.
Speed ramp	If Speed ramp type is Manual, this field opens. Default: 500 rpm/s.
Brake	If On the tool will be stopped when the target is reached. If Off the program goes directly to the next step without stopping the tool.

Rundown (RD)

This step runs the tool with the speed in the forward direction, and depending on the Rundown Type, Torque or Snug the step behavior is as follows:

Rundown Type: To Torque: The step stops when the specified target torque is found.

Rundown Type: To Snug: The snug gradient calculation starts at the specified torque trigger level Tt. If no torque trigger is set the gradient calculation is started at the start of the step.

The slope calculation is made between two angle points A_d degrees apart and is calculated as: (Tn – Tn-1) / (An – An-1) and as soon as two slopes after each other are larger than TSLOPE the snug point is found.

Parameter	Description
Rundown type	To Torque or To Snug.
Target torque	Default: "not set". Must be > 0.
Brake	If On the tool will be stopped when the target is reached. If Off the program goes directly to the next step without stopping the tool.
Speed	Default: 60 rpm. Must be > 0.
Speed ramp type	Hard, soft, or manual. Default: Hard. If you select Manual, the Speed ramp field opens.
Speed ramp	If Speed ramp type is Manual, this field opens. Default: 500 rpm/s.
Trigger Torque	If Rundown type is To Snug, the Trigger torque field is displayed. Default: "not set". Must be > 0.
Delta Angle	If Rundown type is To Snug, the Delta angle field is displayed. Default: "0". Must be > 0.
Torque Rate	If Rundown type is To Snug, the Torque rate field is displayed. Default: "0". Must be > 0.

Y - Tighten to Yield

This strategy runs the tool with the speed in the forward direction until the yield point is detected. The yield point is found by monitoring the torque gradient from the point where the torque goes above the Trigger Torque level, calculated based on Torque and Angle distance measurements. The Angle distance parameter is set according to the specified hardness of the joint.

Set the Gradient angle window (for hard joint, for soft joint or for manually setting of the Angle window). If Manual is selected, the Angle Window must be set. A joint is considered Hard if the screw is tightened to its full torque and it rotates 30 degrees or less after it has been tightened to its snug point. A Soft joint rotates 720 degrees or more after it has been tightened to its snug point. The hardness parameter defines the Angle Window for the gradient calculation. The harder the joint - the smaller the angle window.

Parameter	Description
Gradient Angle Window	Specifies Angle Window: For Hard Joint: Angle Window = 20. For Soft Joint: Angle Window = 1. Manual: Manually set Angle Window.
Angle Window	Available when Gradient Angle Window is set to Manual. Must be > 0 and <= 100.
Trigger Torque	The angle measurement starts at this trigger. Must be >= 0 and < Tool MaxTorque.
Damping	Frequency in which the gradient is being calculated. Must be > 0 and < 100 and < Angle window.
Yield Point Percentage	Must be >= 20 %
Speed	Default: 60 rpm. Must be > 0.
Speed ramp type	Hard, soft, or manual. Default: Hard. If you select Manual, the Speed ramp field opens.
Brake	If On the tool will be stopped when the target is reached. If Off the program goes directly to the next step without stopping the tool.
Torque Filter Type	The type of the filter: None: No filtering of the torque is used. The raw values are used as-is in the gradient calculation. Five-point: The torque value used in the calculation are filtered using a sliding average filter over 5 torque samples. Low pass: The torque values is filtered with a simple discrete Infinite Impulse Response filter. Sliding Average: The torque values used in the calculation are filtered using a sliding average filter over a Number of Samples specified by the use.
Cut-off Frequency	Needs to be specified when Torque Filter Type is set to Low pass: 20 Hz 40 Hz 90 Hz 200 Hz 600 Hz
Number of Samples	Needs to be specified when Torque Filter Type is set to Sliding Average: 2 4 6 8 16 32

Tighten to yield, method 2 (YM2)

This step runs the tool with the specified speed in the forward direction until the yield point is detected.

Search for the yield point starts when the torque has reached Tt. The average of the torque over Af degrees is calculated. This procedure is repeated N rs times.

A reference slope is calculated with linear regression over the N rs points. After that, new average values are continuously calculated over A f degrees.

The actual slope is calculated with linear regression over the last N s average points. The yield point is reached when the slope is less than Py % of the reference slope.

Parameter	Description
Target torque	Must be > 0.
Filter angle	Default: 1. Must be > 0.
Number of samples	Default: 6. Must be >=4.
Number pf samples, reference	Default: 6. Must be >=4.
Yield point percentage	Default: 90%. Must be >20%.
Speed	Default: 60 rpm. Must be > 0.
Speed ramp type	Hard, soft, or manual. Default: Hard. If you select Manual, the Speed ramp field opens.
Speed ramp	If Speed ramp type is Manual, this field opens. Default: 500 rpm/s.
Brake	If On the tool will be stopped when the target is reached. If Off the program goes directly to the next step without stopping the tool.

TC – Torque Calibration

This step runs the tool with the specified speed in the forward direction until the torque target is reached.

By setting this to either Main or Secondary it is possible to calibrate either one of the two transducers.

Parameter	Description
Target torque	Must be > 0.
Transducer	Main or Secondary. Default: Main.
Brake	If On the tool will be stopped when the target is reached. If Off the program goes directly to the next step without stopping the tool.
Speed	Default: 60 rpm. Must be > 0.
Speed ramp type	Hard, soft, or manual. Default: Hard. If you select Manual, the Speed ramp field opens.

Engage (E)

This step runs the tool in both directions until the socket engages the screw. The step continues until Target torque or Target angle is reached, provided that Continue if not Engaged is set to Yes. If Target Angle is reached in any direction, the direction is reversed. Limit the search iterations by entering Max Engage Attempts. If Target Torque is reached in any direction the step will finish with OK status.

Parameter	Description
Target torque	Must be > 0.
Target angle	Default: 0. Must be > 0.
Max Engage Attempts	Default: 2. Must be > 0.
Continue if not Engaged	If Yes the step will end with status OK even if the engage attempts fail. If No the step will end with status NOK if the engage attempts fail.
Speed	Default: 60 rpm. Must be > 0.
Speed ramp type	Hard, soft, or manual. Default: Hard. If you select Manual, the Speed ramp field opens.

Thread Cutting to Torque (ThCT)

The Thread Cutting to Torque function enables tightening where the rundown torque required is greater than the Rundown complete torque, for example when tightening thin layers of metal using self-threading (or selftapping) screws. The tool runs in forward direction until the Thread Cutting Angle (Aw) is reached. The thread cutting angle window is measured from when the torque passes Thread Cut Trigger Torque (Ttc) for the first time. From the point where Thread cutting angle is reached, the step continues to run until the Target Torque (Tt) is reached.

Parameter	Description
Target torque	Must be > 0.
Thread Cutting Angle Window	Default: 0. Must be > 0.
Trigger Torque	The angle measurement starts at this trigger.
Brake	If On the tool will be stopped when the target is reached. If Off the program goes directly to the next step without stopping the tool.
Speed	Default: 60 rpm. Must be > 0.
Speed ramp type	Hard, soft, or manual. Default: Hard. If you select Manual, the Speed ramp field opens.

Tighten to Torque and Angle (T&A)

The tool runs until with the specified speed in the forward direction until both target torque and target angle are reached. The target torque and the target angle must be set to > 0.

Parameter	Description
Target torque	Must be > 0.
Target angle	Default: 0. Must be > 0.
Brake	If On the tool will be stopped when the target is reached. If Off the program goes directly to the next step without stopping the tool.
Speed	Default: 60 rpm. Must be > 0.
Speed ramp type	Hard, soft, or manual. Default: Hard. If you select Manual, the Speed ramp field opens.