Vg10/Vgc10 - OnRobot HEX-E QC User Manual

OPERATION
Workpiece
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.
TCP
The command is used to set the current TCP and/or payload for the robot.
TCP
TCP offset
Set the Linear offset (X,Y,Z) and the Rotation in RPY (Roll-Pitch-Yaw) values to adjust the
OnRobot device dependent calculated TCP.
Payload
Modify Tool payload: If enabled the UR's payload will be overwritten.
enter the workpiece mass that is attached to the device. The device own mass is added
automatically.
Use TCP offset for CoG: set the center of gravity of the workpiece at the active TCP position.
Center of gravity CX, CY, CZ: set the location of the center of gravity of the workpiece.

6.1.7. VG10/VGC10

VG Grip
This command is used to activate the pump and generate vacuum to grip a workpiece.
These are open and close hold-to-run buttons.
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