A method and a device are provided for simplifying a flow-hole screw process, in which the difference between a process parameter and its smoothed value is employed as a criterion for changing said process parameter or another process parameter in order in particular to be able to determine the changeover point between hole forming and thread forming.

This robot system includes a robot on which a driver bit for rotating a screw is mountable, and a robot controller that controls the robot. The robot controller gives a command to the robot to insert a teaching jig into a screw hole which is to be threaded with the screw in a state where the teaching jig is mounted instead of the driver bit, and determines a direction in which the driver bit is inserted by adjusting a direction in which the teaching jig is inserted so as not to cause a load due to interference between the teaching jig and the screw hole.

A method and device are provided for simplifying a flow-drill screwing process. Based on work performed during the process, a process variable E is formed. This variable is compared to analogously formed comparison values in order to be able to determine the proper or faulty running of the process.