When 2 grippers are used, the radio buttons Gripper 1 and Gripper 2 will appear. These
buttons will select which one of the 2 grippers performs the action. In the robot program, the
command name will show [1] or [2] to indicate which grippers is performing the action.
Channel(s): Select which channel perform the action. It is possible to select channel A, B or
both. To see which one is channel A and B, for VG10 see stickers under the arms and for
VGC10 see the letters on the sides on the housing.
Vacuum: The higher the vacuum is set (up to 80 kPa) the more the lifting power is.
Payload mass: 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.
Stop robot on subsequent loss of vacuum: when checked, the vacuum is monitored
continuously and if the vacuum disappears unexpectedly the robot will stop with a popup.
Wait for proper grip: when checked, the program will stay in the VG Grip structure until
commanded vacuum is achieved. If the commanded vacuum is not achieved in 3 seconds the
program halts.
When pressed, the gripper will act as if the command is executed.
When any of the VG grippers is used in combination with a HEX-E/H QC the following extra
option becomes available:
Seek and auto level: when checked, the gripper will be moved by the robot in the +Z
direction (in Tool coordinate system) until it reaches a surface (this is the seek part) with both
channels. This feature is only useful if both channels are going to do the grip at the same
time. During the motion the gripper's orientation is automatically adjusted to be parallel to the
surface (this is the auto level part).
OPERATION
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