OnRobot RG6 - Page 130

tool_index=1 for primary
tool_index=2 for secondary
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
>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 5cm away from the release position.
If not set, this parameter defaults to True.
tool_index=vg_index_get() → when only a 1 VG10 gripper attached.
If two VG10 grippers attached, use:
tool_index=1 for primary
tool_index=2 for secondary
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.
channel: Tells which channel to be in idle.
0 = Channel A
1 = Channel B
2 = Channel A and Channel B
tool_index=vg_index_get() → when only a 1 VG10 gripper attached.
If two VG10 grippers attached, use:
tool_index=1 for primary
OPERATION
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