OnRobot HEX-E QC User Manual page 130

OPERATION
for primary
tool_index=1
for secondary
tool_index=2
vg10_release(channel, timeout, autoidle, tool_index)
Commands the VG10 to perform a release.
: Tells which channel to be released.
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 long to wait for vacuum to be removed.
timeout
0 = The function will not wait, but return immediately after the command is sent
>0 = Waiting time [s]. Floating point numbers can be used. E.g. 0.6 = 600ms.
If not set, this parameter defaults to 5 seconds.
: Tells if the release valve should automatically be turned off when the release is
autoidle
completed and the robot has moved 5cm away from the release position.
If not set, this parameter defaults to True.
tool_index=vg_index_get()
If two VG10 grippers attached, use:
for primary
tool_index=1
for secondary
tool_index=2
vg10_vacuum_A or vg10_vacuum_B
Returns current vacuum in the selected channel.
If two grippers are attached use _primary or _secondary
Ex:
vg10_vacuum_A_secondary
vg10_idle(channel, tool_index)
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.
: Tells which channel to be in idle.
channel
0 = Channel A
1 = Channel B
2 = Channel A and Channel B
tool_index=vg_index_get()
If two VG10 grippers attached, use:
for primary
tool_index=1
130
→ when only a 1 VG10 gripper attached.
→ when only a 1 VG10 gripper attached.