VG10 User Manual 1.1.0
Page 10 of 40
Uninstalling
It is not necessary to uninstall the VG10 URCap to allow the IO’s to be used by other
URCaps / applications. The VG10 URcap can be activated or deactivated as needed per
installation by ticking the “Enable VG10 URCap” in the VG10 installation screen on and
off. Please refer to The Installation screen.
If needed, the URCap can be permanently uninstalled as described below.
• Uninstall the VG10 URCap
- UR Main Menu → Setup Robot → URCaps
- Select “VG10-URCap” on the list
- Press “-“
- Press “Restart”
• Remove the tool cable
• Remove the tool changer from the robot
- Orient the VG10 and robot tool flange for easy access
- Unclick the VG10
- Screw out the four Torx T30 bolts
2 Software specification
The most common way to use the VG10 is by use of the URCap functionalities (see
figure 2.1 for Installation tab and figure 2.2 for the Command tab). However, it is also
possible to use the VG10 without use of the URCap, either through urscript commands
or by manual I/O control. These three different control modes are described in the
following three sections.
URCap
The VG10 URCap allows for convenient and reliable usage of the VG10 with a Universal
Robots arm. When installed an installation tab and two program structures is made
available in PolyScope.
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