OnRobot VG10 - Vg10_Get_Vacuum(Channel); Vg10_Calibrate_Ain(); Vg10_Idle(Channel)

VG10 User Manual 1.1.0
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• 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 off when the
release is completed and the robot has moved 5cm away from the release position.
If not set, this parameter defaults to True.
VG10_get_vacuum(channel)
Returns current vacuum in the selected channel.
• channel: Tells which channel value to return.
- 0 = Channel A
- 1 = Channel B
VG10_calibrate_ain()
Runs a calibration process improving accuracy of the script commands
VG10_get_vacuum() and VG10_grip(), by compensating out tolerances of the UR
robot analog inputs. Typically, this takes 200 ms and is done once in the beginning of
a program if using the VG10 URcap.
VG10_idle(channel)
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