Vg10 Release - OnRobot VG10 User Manual

VG10 User Manual 1.1.0

VG10 Release

This structure is used to release the grip of the workpiece by removing vacuum. By
selection the appropriate channel setting it is possible to release the workpiece on
either channel or both.
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. Releasing channel A will set the
payload to 2 kg + tool weight whilst releasing channel B will set the payload to 1 kg +
tool weight. Releasing channel A+B will set the robot payload to the tool weight alone.
Please refer to The Installation screen for details on the tool weight.
The option to close the valves after the workpiece is released will turn off the power
to the release-valves to save power. The power will be removed when the robot has
traveled 5cm away from the release position. This option is especially suitable for
situation where multiple work pieces are handled, as turning off the valve will free up
power to the pump to improve vacuum levels and cycle times.
Figure 2.4: URCap Command tab for VG10 release.
Page 14 of 40