OnRobot VG10 - Script Commands; Vg10_Grip (Channel, Vacuum, Timeout, Alert); Vg10_Release(Channel, Timeout, Autoidle)

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Script commands
Script commands are available independently of the URCap and they also work on
older versions of the UR robots (Regarding old UR robots, follow the guide in the
folder “Script Commands” on the USB stick).
Script commands are available for both UR robots with the URCap installed and for
older robots without URCAP support. For the VG10 script commands to become
available on an UR robot, one of the following must be done:
• Install the VG10 URCap, or
• Follow the guide in the folder “Script Commands” on the USB stick, or
• Follow the guide found on www.onrobot.com/support.
VG10_grip (channel, vacuum, timeout, alert)
Commands the VG10 to perform a grip.
• channel: Tells which channel to be gripped with.
- 0 = Channel A
- 1 = Channel B
- 2 = Channel A and Channel B
If not set, this parameter defaults to 2 (A and B).
• vacuum: Tells how hard to grasp in the range of 0% to 80 % vacuum.
- 60 = 60% vacuum. A typical firm grip
- 30 = 30% vacuum. A typical soft grip
If not set, this parameter defaults to 60%.
• timeout: Tells how long to wait for commanded vacuum to be achieved. If vacuum
is not achieved, an air leakage at the workpiece or vacuum cups is reported in a
popup and the robot program stops.
- 0 = The function will not wait for vacuum, but return immediately after the
command is sent
- >0 = Waiting time [s]. Floating point numbers can be used. E.g. 0.6 = 600 ms.
If not set, this parameter defaults to 5 seconds.
• alert: Whether the grip should be monitored after vacuum (grip) is established. If
vacuum is lost while handling a workpiece, a popup warning is shown, and the
robot program stops. This setting cannot be used without a proper timeout
setting, see above.
- False = Vacuum is not monitored
- True = Vacuum is continuously monitored. Popup warning enabled
If not set, this parameter defaults to True.
VG10_release(channel, timeout, autoidle)
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).