OnRobot Gecko Gripper, Original User Manual, Page: 46 / 198

Operation
46
Function name: OR_VG10_setCur(instance, current)
Name Type Description
Input:
instance
integer
1: single or primary - in dual configuration
2: secondary in dual configuration
current
integer
Current limit for VG10 in mA. Valid in 100-1000 mA
range.
Output: - -
Description: Set current limit for VG10.
Example:
instance = 1
current = 600 ‘mA
CallProc OR_VG10_setCur(instance, current)
Function name: OR_VG10_getCur(instance)
Name Type Description
Input:
instance
integer
1: single or primary - in dual configuration
2: secondary in dual configuration
Output: - integer Current limit in mA
Description: Get configured current limit.
Example:
instance = 1
CallProc act_current_lim = OR_VG10_setCur(instance)
Function name: OR_VG10_isConn(instance)
Name Type Description
Input:
instance
integer
1: single or primary - in dual configuration
2: secondary in dual configuration
Output: - integer
0: gripper is not connected
1: VG10 is connected
2: VGC10 is connected
Description: Checks that is VG10 connected or not.
Example:
CallProc vg10_connected = OR_VG10_isConn()
Detailed description on the EtherNet/IP Assembly Instances (what values can be read and write) can be
found in the
EtherNet/IP section.