OnRobot VGC10, Руководство пользователя, Страница: 112 / 213

Operation
112
VG10 / VGC10
vg10_grip (channel, vacuum, timeout, alert, tool_index)
Commands the VG10 to perform a grip.
channel: Tells which channel to be gripped with.
0 = Channel A
1 = Channel B
2 = Channel A and Channel B
If not set, this parameter defaults to 2 (A and B).
vacuum
: Tells how hard to grasp in the range of 0% to 80 % vacuum.
60 = 60% vacuum
. A typical firm grip
30 = 30% vacuum
. A typical soft grip
If not set, this parameter defaults to 60%.
timeout
: Tells how long to wait for commanded vacuum to be achieved. If vacuum is not achieved, an
air leakage at the workpiece or vacuum cups is reported in a popup and the robot program stops.
0 = The function will not wait for vacuum, but return immediately after the command is sent
>0 = Waiting time [s]. Floating point numbers can be used. E.g. 0.6 = 600 ms.
If not set, this parameter defaults to 5 seconds.
alert
: Whether the grip should be monitored after vacuum (grip) is established. If vacuum is lost while
handling a workpiece, a popup warning is shown, and the robot program stops. This setting cannot be
used without a proper timeout setting, see above.
False
= Vacuum is not monitored
True
= Vacuum is continuously monitored. Popup warning enabled
If not set, this parameter defaults to True.
tool_index
=
vg_index_get()
-> when only a 1 VG10 gripper attached.
If 2 VG10 grippers attached, use:
tool_index
=
1
for primary
tool_index
=
2
for secondary
vg10_release(channel, timeout, autoidle, tool_index)
Commands the VG10 to perform a release.
channel
: Tells which channel to be released.
0 = Channel A
1 = Channel B
2 = Channel A and Channel B
If not set, this parameter defaults to 2 (A and B).
timeout: Tells how long to wait for vacuum to be removed.
0 = The function will not wait, but return immediately after the command is sent