Has anyone used a timer to track the amount of time it takes to insert a screw? For example we know it takes 2.5 seconds for the robot to fully insert the screw after it reaches a force in the Z of 50N, Now sometimes the material that is getting the screw is not always the same causing the screw to stop threading early which would mean we hit the force in the Z and the torque of the driver but we still did not reach the depth.

Hi @mhowe

I would use a position instead and screw until the desired position in z is reached. 

@David_Gariepy How would you go about that when we are doing a find surface to 50N?

Discussion through mail, will come here later to edit and post solution

@mhowe we have a screw driving application and we are using both a timer as well as a depth of insertion. We have defined a plane which is where the screws should be installed and the n measure the delta between actual insertion and the plane. If it exceeds a tolerance then we flag the screw as not properly installed and notify the user. Also, if it torques out too soon we notify the user that there was an issue installing the screw.