OnRobot VGC10, Руководство пользователя, Страница: 55 / 213

Operation
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Preload Force : Specify the desired preload force to grip the part. The gripper will perform its grip
command until the preload force is reached, at which point the robot will terminate the grip motion
and immediately continue onto the next command. The possible values are 50, 90 and 120 N.
NOTE:
The robot safety settings may need to be changed to allow forces above
50N to be exerted. UR3 and UR5 cannot exert forces above 50N.
Robot Speed : Specify the robot’s downward speed during the pick motion. Values between 0 and
300 mm/s.
Pad Control
press to move the Gecko pads in.
press to move the Gecko pads out.
Payload
Mass : the workpiece weight can be entered. The URCap software will then perform the calculation
of the resulting payload mass considering the gripper, the Quick Changer, and the workpiece mass.
NOTE:
When the pads are needed to be replaced a warning message is
displayed. It will re-appear on every program running until the pads are
not pulled in and out or the error has not been reset on the toolbar.