Vg10/Vgc10 - OnRobot HEX-E QC User Manual

OPERATION
sg_release(target_width, tool_index=0, blocking=True,
depth_compensation=False)
: The width that the gripper will open to. [mm]
target_width
: The index of the gripper to send the command to.
tool_index
=True: the function waits for the gripper to finish the grip command.
blocking
depth_compensation
difference in depth between the start and the end. (False by default)
For example, a relative movement for quickly releasing a workpiece can be done as follows:
If only one gripper is connected:
sg_release (sg_Width_primary+5, 1)
sg_release (sg_Width_secondary+5, 2)

6.3.6. VG10/VGC10

vg10_grip (channel, vacuum, timeout, alert, tool_index)
Commands the VG10 to perform a grip.
: Tells which channel to be gripped with.
channel
0 = Channel A
1 = Channel B
2 = Channel A and Channel B
If not set, this parameter defaults to 2 (A and B).
: Tells how hard to grasp in the range of 0% to 80 % vacuum.
vacuum
. A typical firm grip
60 = 60% vacuum
. A typical soft grip
30 = 30% vacuum
If not set, this parameter defaults to 60%.
: Tells how long to wait for commanded vacuum to be achieved. If vacuum is not
timeout
achieved, an air leakage at the workpiece or vacuum cups is reported in a popup and the
robot program stops.
0 = The function will not wait for vacuum, but return immediately after the command is sent
>0 = Waiting time [s]. Floating point numbers can be used. E.g. 0.6 = 600 ms.
If not set, this parameter defaults to 5 seconds.
: Whether the grip should be monitored after vacuum (grip) is established. If vacuum is
alert
lost while handling a workpiece, a popup warning is shown, and the robot program stops. This
setting cannot be used without a proper timeout setting, see above.
= Vacuum is not monitored
False
= Vacuum is continuously monitored. Popup warning enabled
True
If not set, this parameter defaults to True.
tool_index=vg_index_get()
If two VG10 grippers attached, use:
=False: The robot will move during the release to compensate for the
→ for primary
→ when only a 1 VG10 gripper attached.
→ for secondary
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