In Solid Edge assembly, to fully constrain a cylindrical part like a screw in just one step, first adjust its preview close to the final orientation in the assembly. You can use the same mouse and keyboard combination used in the main graphics window.
Then Drag-and-drop the part into the assembly.
Carefully select a circular edge on the screw. Avoid a cylindrical face. Then select an edge on the assembly part.
Note that the screw is fully constrained and no further mates are required. The following Video illustrates this:
C l i c k H e r e t o V i e w F u l l - S c r e e n V i d e o o n Y o u T u b e
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