•
vg10_release(channel, timeout, autoidle, tool_index)
Commands the VG10 to perform a release.
channel: Tells which channel to be released.
•
0 = Channel A
•
1 = Channel B
•
2 = Channel A and Channel B
If not set, this parameter defaults to 2 (A and B).
timeout: Tells how long to wait for vacuum to be removed.
•
0 = The function will not wait, but return immediately after the command is sent
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>0 = Waiting time [s]. Floating point numbers can be used. E.g. 0.6 = 600ms.
If not set, this parameter defaults to 5 seconds.
autoidle: Tells if the release valve should automatically be turned
o when the release is
completed and the robot has moved 5 cm away from the release position.
If not set, this parameter defaults to True.
If only one VG10 gripper is attached, use:
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.
Example:
vg10_vacuum_A_secondary
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vg10_idle(channel, tool_index)
OPERATION
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