OnRobot VGC10, Руководство пользователя, Страница: 113 / 213

Operation
113
>0 = Waiting time [s]. Floating point numbers can be used. E.g. 0.6 = 600ms.
If not set, this parameter defaults to 5 seconds.
autoidle
: Tells if the release valve should automatically be turned off when the release is completed
and the robot has moved 5cm away from the release position.
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_vacuum_A or vg10_vacuum_B
Returns current vacuum in the selected channel.
If 2 grippers are attached use _primary or _secondary
Ex:
vg10_vacuum_A_secondary
vg10_idle(channel, tool_index)
Commands the VG10 to idle the selected channel. When a channel is in idle, the power consumption is
slightly lower, but parts may 'stick' to the suction cup as the air return channel is closed.
channel
: Tells which channel to be in idle.
0 = Channel A
1 = Channel B
2 = Channel A and Channel B
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
5.4 TCP Configuration
TCP is the abbreviation of the Tool Center Point.
TCP is a point that is in the beginning (by default) located at the middle point of
the UR's tool flange. This is an important point during robot programming since
UR's Move commands are always referenced to a given TCP point and rotations
could only be carried out about these points.