# Setting up a screwingapplication

**URL:** <https://forum.universal-robots.com/t/setting-up-a-screwingapplication/19874>\
**Category:** General Application Help: How do I?\
**Created:** [March 14, 2022, 7:00pm UTC](https://forum.universal-robots.com/t/setting-up-a-screwingapplication/19874 "2022-03-14T19:00:40Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![anon68943266](https://avatars.discourse-cdn.com/v4/letter/a/e495f1/32.png) [@anon68943266](https://forum.universal-robots.com/u/anon68943266)\
**Post date:** [March 14, 2022, 7:00pm UTC](https://forum.universal-robots.com/t/setting-up-a-screwingapplication/19874/1 "2022-03-14T19:00:40Z")

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Hey guys! I am new to this Robot Stuff, but i have to make a UR screwing 4 hexbolts, with a given torque. I read a UR has its own torque and force measurment, but i dont get how it works.

So wich option do i need to follow:

1. i buy an extra electrical or pneumatic screwdriver with a nut and mount it to the robot or,

2. i only need to mount a nut to the robot arm and let the last joint rotate until torque measurement reaches the value i gave?

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**Author:** ![cg1](https://avatars.discourse-cdn.com/v4/letter/c/c77e96/32.png) [@cg1](https://forum.universal-robots.com/u/cg1)\
**Post date:** [March 15, 2022, 10:41am UTC](https://forum.universal-robots.com/t/setting-up-a-screwingapplication/19874/2 "2022-03-15T10:41:06Z")

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Hi Felix.

I only think that is the UR3 that has an infinite rotating end joint (and might even be wrong about that)…  
The rest of the robots “only” has 2\*360deg rotation in every joint. meaning that you would have to screw the screw two rotations at a time.  
which dependent on the actual length of the bolt might be really slow.

and only the e-series (so Ur3e) has an actual force/torque sensor, so if you go with a CB-series you would need a separate force/torque sensor (I know robotiq makes one).

As i dont really have any experiance with any screwdriver add ons i cant really help you here.  
But hopefully this gave you some idea about which direction to go.

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**Author:** ![anon68943266](https://avatars.discourse-cdn.com/v4/letter/a/e495f1/32.png) [@anon68943266](https://forum.universal-robots.com/u/anon68943266)\
**Post date:** [March 15, 2022, 11:03am UTC](https://forum.universal-robots.com/t/setting-up-a-screwingapplication/19874/3 "2022-03-15T11:03:07Z")

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yeah thank you very much. Then i will go with an extra screwdriver. As already mentioned i need to monitor the torque. its easier to use an EC Screwdriver then a pneumatic screwdriver in this case i guess?

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**Author:** ![cg1](https://avatars.discourse-cdn.com/v4/letter/c/c77e96/32.png) [@cg1](https://forum.universal-robots.com/u/cg1)\
**Post date:** [March 15, 2022, 11:42am UTC](https://forum.universal-robots.com/t/setting-up-a-screwingapplication/19874/4 "2022-03-15T11:42:33Z")

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> [@anon68943266](#):
>
> already

HI again Felix…  
Im not really an expert here, but there is alot of different companies out there producing ready made screwdriver solution for the UR arm. Try to take a look at the UR+ product site under the assembly categori.

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>
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