OnRobot VG10 User Manual
Collaborative dual-channel electrical vacuum gripper
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- User manual (282 pages) ,
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- User manual (230 pages)
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Summary of Contents for OnRobot VG10
- Page 1 User Manual VG10 Vacuum Gripper Collaborative dual-channel electrical vacuum gripper Original Instructions (en) Version 1.1.0...
- Page 3 The information contained herein is property of OnRobot A/S and shall not be reproduced in whole or in part without prior written approval of OnRobot A/S. The information herein is subject to change without notice and should not be construed as a commitment by OnRobot A/S.
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Page 4: Technical Sheet
VG10 Technical Sheet Technical sheet Features • Easy installation, programming and risk assessment • Optimized for collaborative applications • Dual grip with two independent gripping zones • No need for external air or cables down the robot • 10 kg lifting power on airtight and slightly porous surfaces •... -
Page 5: Typical Applications
°F Relative humidity (non-condensing) Calculated MTBF (operating life) 30000 hours What’s in the box? Everything you need to get started with the VG10 is included: • 1 x VG10 Industrial Robot Vacuum Gripper • 1 x Easy Tool Changer •... -
Page 6: Table Of Contents
VG10 User Manual 1.1.0 Table of contents Technical sheet ......................4 Features ........................4 Typical applications .....................5 Operating conditions ....................5 What’s in the box? ......................5 1 Quick guides .......................8 Installation ........................8 Troubleshooting ......................9 Updating software .......................9 Uninstalling ....................... 10 2 Software specification ..................10 URCap ........................ - Page 7 Payload, vacuum and air flow .................. 23 Suction area ......................23 Vacuum ......................... 24 Air flow ......................... 24 Maintenance and repair ................... 26 Filters ........................26 Mechanical dimensions .................... 27 Electrical characteristics ................... 28 4 Safety ........................29 Intended use ......................29 Risk assessment ......................
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Page 8: Quick Guides
Mount the tool changer on the robot: Orient the robot tool flange for easy access Unclick the robot half of the tool changer from the top of the VG10 Screw it onto the robot using the four Torx T30 bolts, Torque = 6Nm (See Figure 1.1 below) -
Page 9: Troubleshooting
Troubleshooting • If the URCap is installed but the structures “VG10 Grip” or “VG10 Release” do not work, try: Uninstall all URCaps, reboot UR control box and reinstall the VG10 URCap Check that the tool cable is undamaged and mounted correctly Check if a new empty program works •... -
Page 10: Uninstalling
VG10 User Manual 1.1.0 Uninstalling It is not necessary to uninstall the VG10 URCap to allow the IO’s to be used by other URCaps / applications. The VG10 URcap can be activated or deactivated as needed per installation by ticking the “Enable VG10 URCap” in the VG10 installation screen on and off. -
Page 11: The Installation Screen
The structure tab is used to insert the Grip and Release function in the Robot program structure tree (See figure 2.2). In the URCaps tab, you will find the two buttons. If only the VG10 is mounted on the robot, the default setting of 1.7 kg should not be changed. -
Page 12: Structures
If, for instance, the tool weight is set to 1.7 kg in the VG10 Installation tab and a payload of 2 kg is picked up on Channel A, using the VG10 Grip node, the total payload is automatically set to 1.7 + 2 = 3.7 kg. If picking up an additional payload of 4 kg on Channel B, the total payload is automatically set to 1.7 + 2 + 4 = 7.7 kg. - Page 13 • When the two channels are set to different vacuum percentages the VG10 automatically releases air into the channel with lower pressure. This feature is activated when the pressure is more than 20% vacuum over the setting. Releasing air generates a characteristic rumbling sound and change in pumping speed.
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Page 14: Vg10 Release
When the payload is properly set in the preceding VG10 Grip node(s), the robot payload is corrected once the workpiece has been released. If, for instance, a workpiece of 1 kg is held by Channel A and one of 2 kg by Channel B, the robot payload is changed depending on the channel selection. -
Page 15: Script Commands
“Script Commands” on the USB stick). Script commands are available for both UR robots with the URCap installed and for older robots without URCAP support. For the VG10 script commands to become available on an UR robot, one of the following must be done: •... -
Page 16: Vg10_Get_Vacuum(Channel)
VG10 URcap. VG10_idle(channel) 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. -
Page 17: Modbus Rtu
MODBUS Application Protocol Specification Settings Both 24V I/O data line and MODBUS RTU line is enabled at power-up. If the VG10 detects a command on the 24V I/O data line before receiving a MODBUS RTU frame, it will disable MODBUS RTU and use the shared MODBUS RTU line (RS485) for analog outputs (Vacuum %). -
Page 18: Registers
2 / 0x02, Idle. Commands the channel to neither release nor grip. Workpieces may ‘stick’ to the channel if physically pressed towards its vacuum cups, but the VG10 will use slightly less power. The target vacuum field sets the level of vacuum to be build up and maintained by the channel. - Page 19 Setting the register value 276 (0x0128) will command the VG10 to grip at 20 % vacuum. Setting the register value 296 (0x0128) will command the VG10 to grip at 40 % vacuum. Setting the register value 331 (0x014B) will command the VG10 to grip at 75 % vacuum.
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Page 20: Manual Control
VG10 User Manual 1.1.0 Manual control It is possible to use the VG10 completely without URCAP and script commands. This is done by controlling the UR tool I/O directly, see UR tool I/O tab on the right side of the screenshot below. -
Page 21: Hardware Specification
General product details and environmental conditions are found in the Technical Sheet on page 4. The arms of the VG10 can be folded to the preferred position simply by pulling in the arms. The torque needed to overcome the friction in the rotatable joints of the arm is high (6 N/m) to ensure that the arms do not move when handling 10 kg payloads. -
Page 22: Vacuum Cups And Fittings
Changing to another fitting or blind is possible. The thread size is the commonly used G1/8”; allowing for standard fittings, blinders and extenders to be fitted directly to the VG10 arms and housing, see mechanical details in the Mechanical Dimensions Section. -
Page 23: Payload, Vacuum And Air Flow
Payload, vacuum and air flow The lifting capacity (payload) of the VG10 depends primarily on the following parameters: • Suction area • Vacuum • Air flow These three parameters are explained in the following subsections. Suction area The higher suction area, the higher lifting capacity. Be aware that the actual suction area is smaller than the outer diameter of your vacuum cups, as the vacuum cup libs reduced (see figure 3.4). -
Page 24: Vacuum
The pressure in the atmosphere varies with weather, temperature and altitude. The VG10 automatically compensates for altitudes up to 2km, where the pressure is about 80% of sea level. Air flow Air flow is the amount of air that must be pumped to maintain the target vacuum. - Page 25 VG10 is not suitable for most uncoated, coarse cardboard boxes. • Extra attention must be paid to leakages, e.g. vacuum cup shape and surface roughness The air flow capability of a VG10 is shown in the graph below: VG10 pump, flow...
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Page 26: Maintenance And Repair
Only use original spare parts. Filters The VG10 is equipped with one filter for each suction cup socket, and one filter for the exhaust. How often the filters need to be changed depends on the nature of the work piece and the working environment. The VG10 automatically de-dust the filters every time a grip is released. -
Page 27: Mechanical Dimensions
ISO 9409-1, Type 50-4-M6. Dimensions and tolerances are noted in mm in the drawing below. Dimensions of the fitting supplied with the VG10 is shown below. Other suction cups / fittings with G1/8 x 6.5 mm threading is directly compatible with the VG10. -
Page 28: Electrical Characteristics
VG10 User Manual 1.1.0 Electrical characteristics The VG10 supports a wide range of control methods, making it suitable for all of the following: • Universal Robots – URCap, scripts and manual I/O control • Other robots – Manual 24 V I/O control and MODBUS RTU (RS485) commands •... -
Page 29: Safety
The robot integrator must perform a risk assessment on the complete robot application. The VG10 is only a component in a robot application and the safe use of the VG10 rely on the integrators ability to design a safe robot application. - Page 30 The integrator must consider the angle of contact with a human body, e.g. orientate the VG10 and work item so that the contact surface in the direction of movement is as large as possible, and so that tool connectors are pointed in the direction opposite to the movement.
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Page 31: Environmental Safety
Environmental safety OnRobot A/S products must be disposed of in accordance with the applicable national laws, regulations and standards. The product is produced with restricted use of hazardous substances to protect the environment; as defined by the EU RoHS directive 2011/65/EU. These substances include mercury, cadmium, lead, chromium VI, polybrominated biphenyls and polybrominated diphenyl ethers. -
Page 32: General Safety Instructions
• Identify how often the filters needs service and schedule maintenance with a fixed period short enough to ensure a firm grip at all times. An overall inspection of the VG10 must be performed regularly and at least once every 6 months. -
Page 33: Warranties
5 Warranties Patents The VG10 and other products of OnRobot A/S are protected by several patents; some still in global publication process (Patents pending). All manufacturers of copies and similar products violating any patent claims will be prosecuted. Product warranty Without prejudice to any claim the user (customer) may have in relation to the dealer or retailer, the customer shall be granted a manufacturer’s warranty under the... -
Page 34: Certifications
Technical Report. ISO 9409-1:2004 [Type 50-4-M6] Manipulating industrial robots – Mechanical interfaces The flange and tool changer on the VG10 conforms to type 50-4-M6 of this standard. Robots should also be constructed according to this standard to ensure proper fitting. - Page 35 Part 2-104: Circular connectors – Detail specification for circular connectors with M8 screw- or snap-locking Both the VG10 connector and the cable conforms to type 8-way, coding A, gold contacts, which is the highest quality rating defined in this standard. Mating operations: 100 times.
- Page 36 VG10 User Manual 1.1.0 IEC 60664-1:2007 IEC 60664-5:2007 EN 60664-1:2007 [2006/95/EC] EN 60664-5:2007 Insulation coordination for equipment within low-voltage systems Part 1: Principles, requirements and tests Part 5: Comprehensive method for determining clearances and creepage distances equal to or less than 2 mm The electrical circuitry of the product is designed in compliance with these standards.
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Page 37: Ce/Eu Declaration Of Incorporation (Original)
DENMARK declares that the product: Type: Industrial Robot Gripper Model: VG10 Vacuum Gripper Generation: Serial: PR10.8018.00000 - PR10.8018.99999 may not be put into service before the machinery in which it will be incorporated is declared in conformity with the provisions of Directive 2006/42/EC, including amendments, and with the regulations transposing it into national law.
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