OnRobot VGC10, Руководство пользователя, Страница: 96 / 213

Operation
96
VG10 / VGC10
VG Grip
This command is used to activate the pump and generate vacuum to grip a workpiece.
When 2 grippers are used, the radio buttons Gripper 1 and Gripper 2 will appear. These buttons will select
which one of the 2 grippers performs the action. In the robot program, the command name will show [1]
or [2] to indicate which grippers is performing the action.
Channel(s) : Select which channel perform the action. It is possible to select channel A, B or both. To see
which one is channel A and B, for VG10 see stickers under the arms and for VGC10 see the letters on the
sides on the housing.
Vacuum : The higher the vacuum is set (up to 80 kPa) the more the lifting power is.
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.
Stop robot on subsequent loss of vacuum : when checked, the vacuum is monitored continuously and if
the vacuum disappears unexpectedly the robot will stop with a popup.
Wait for proper grip : when checked, the program will stay in the VG Grip structure until commanded
vacuum is achieved. If the commanded vacuum is not achieved in 3 seconds the program halts.
When pressed, the gripper will act as if the command is executed.
When any of the VG grippers is used in combination with a HEX-E/H QC the following extra option
becomes available: