OnRobot VGC10 User Manual page 117

Operation
Before you teach any Waypoint make sure to set the Active TCP beforehand:
• for Single device go to the OnRobot Installation panel
• for Dual devices go to the OnRobot Installation panel and Select the Device (1 or 2) that you are
using at the time of the teaching
As summary here is a code example:
Single
Recommended to set OnRobot_Default TCP as the
UR's Default TCP
Robot program
TCP (Optional)
MoveJ (Set TCP = Active TCP)
Dual
Recommended to set OnRobot_Default TCP as the
UR's Default TCP
Before each program execution make sure to
select on the OnRobot Installation panel the right
gripper that will be the first used in the program
Robot program
TCP (Select Gripper 1)
MoveJ (Set TCP = Active TCP)
TCP (Select Gripper 2)
MoveJ (Set TCP = OnRobot_Dual_2)
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