OnRobot VG10 User manual

User Manual
VG10 Vacuum Gripper
Collaborative dual-channel electrical vacuum gripper
Original Instructions (en)
Version 1.1.0

The information contained herein is property of OnRobot A/S and shall not be
reproduced in whole or in part without prior written approval of OnRobot A/S. The
information herein is subject to change without notice and should not be construed as
a commitment by OnRobot A/S. This manual is periodically reviewed and revised.
OnRobot A/S assumes no responsibility for any errors or omissions in this document.
Copyright © 2017–2018 by OnRobot A/S.
The OnRobot A/S logo is trademark of OnRobot A/S.

VG10 Technical Sheet
Technical sheet
Features
•Easy installation, programming and risk assessment
•Optimized for collaborative applications
•Dual grip with two independent gripping zones
•No need for external air or cables down the robot
•10 kg lifting power on airtight and slightly porous surfaces
•Plug’n’Produce in 30 minutes (installation + robot programming)
Minimum
Typical
Maximum
Unit
Vacuum
5 %
-0.05
1.5
-
-
-
80 %
-0.810
24
Vacuum
Bar
inHg
Air flow
0
-
12
Nl/min
Arms adjustment
0
-
270
°
Arm holding torque
-
6
-
Nm
Payload
0
0
-
-
10
22
kg
lb
Recommended workpiece size
10x10
0.5x0.5
-
-
500x500
20x20
mm
in
Vacuum cups
1
-
16
pcs.
Gripping time
-
0.35
-
s
Releasing time
-
0.20
-
s
Foot-inch-foot
-
1.40
-
s
Feature
Vacuum pump
Integrated, electric BLDC
Arms
4, adjustable by hand
Tool changer
Integrated, click-on
Mechanical interface
ISO 9409-1, type 50-4-M6
Pneumatic interface
16x G1/8 internal threads
Electrical interface
8-pole M8
Digital interfaces
URCap (PolyScope ≥ 3.3)
UR scripts (PolyScope < 3.3)
MODBUS RTU
24V I/O
Dust filters
Integrated 50µm, field replaceable
IP Classification
IP54
Dimensions (folded)
146 x 146 x 102 mm
5.75 x 5.75 x 4.00 inch
Dimensions (unfolded)
390 x 390 x 102 mm
15.35 x 15.35 x 4.0 inch
Weight
1.70 kg
3.75 lb

Typical applications
•Pick and place
•Palletizing
•Machine tending
•Material handling
Operating conditions
Minimum
Typical
Maximum
Unit
Power supply
20.4
24
28.8
Volts
Current consumption
50
600
1500
mA
Operating temperature
0
32
-
-
50
122
°C
°F
Relative humidity (non-condensing)
0
-
95
%
Calculated MTBF (operating life)
30000
-
-
hours
What’s in the box?
Everything you need to get started with the VG10 is included:
•1 x VG10 Industrial Robot Vacuum Gripper
•1 x Easy Tool Changer
•1 x 200 mm M8 tool cable
•16 x Fittings for vacuum cups (pre-mounted)
•16 x 30 mm vacuum cups (pre-mounted)
•4 x 40 mm vacuum cups
•4 x 15 mm vacuum cups
•16 x Blind screws
•4 x Torx T30 M6 bolts
•1 x pin (rotation lock)
•Torx 30 key
•3 mm Allen hex key
•User manual
•USB stick
-URCaps (PolyScope >= 3.3 support)
-User manual

VG10 User Manual 1.1.0
Page 6 of 40
Table of contents
Technical sheet.............................................................................................................4
Features.......................................................................................................................4
Typical applications .....................................................................................................5
Operating conditions...................................................................................................5
What’s in the box? ........................................................................................................5
1 Quick guides...............................................................................................................8
Installation...................................................................................................................8
Troubleshooting ..........................................................................................................9
Updating software.......................................................................................................9
Uninstalling............................................................................................................... 10
2 Software specification .......................................................................................... 10
URCap ....................................................................................................................... 10
The Installation Screen ......................................................................................... 11
Structures ............................................................................................................. 12
VG10 Grip ............................................................................................................. 12
VG10 Release........................................................................................................ 14
Script commands...................................................................................................... 15
VG10_grip (channel, vacuum, timeout, alert)...................................................... 15
VG10_release(channel, timeout, autoidle) .......................................................... 15
VG10_get_vacuum(channel)................................................................................ 16
VG10_calibrate_ain()............................................................................................ 16
VG10_idle(channel).............................................................................................. 16
MODBUS RTU ........................................................................................................... 17
Settings................................................................................................................. 17
Function codes...................................................................................................... 17
Registers ............................................................................................................... 18
Manual control......................................................................................................... 20
3 Hardware specification ......................................................................................... 21
Vacuum cups and fittings ......................................................................................... 22

Page 7 of 40
Payload, vacuum and air flow .................................................................................. 23
Suction area.......................................................................................................... 23
Vacuum................................................................................................................. 24
Air flow ................................................................................................................. 24
Maintenance and repair........................................................................................... 26
Filters.................................................................................................................... 26
Mechanical dimensions............................................................................................ 27
Electrical characteristics........................................................................................... 28
4 Safety ....................................................................................................................... 29
Intended use............................................................................................................. 29
Risk assessment........................................................................................................ 29
Environmental safety................................................................................................ 31
General safety instructions....................................................................................... 32
5 Warranties............................................................................................................... 33
Patents...................................................................................................................... 33
Product warranty...................................................................................................... 33
Disclaimer................................................................................................................. 33
6 Certifications .......................................................................................................... 34
Applied standards..................................................................................................... 34
CE/EU Declaration of incorporation (Original)..................................................... 37

VG10 User Manual 1.1.0
Page 8 of 40
Figure 1.2
Figure 1.1
1 Quick guides
Installation
•Unpack the box (See What’s in the Box Section and the Unboxing
video: https://www.youtube.com/watch?v=SqK-ATtTP0E)
•Mount the tool changer on the robot:
-Orient the robot tool flange for easy access
-Unclick the robot half of the tool changer from the top of the VG10
-Screw it onto the robot using the four Torx T30 bolts, Torque = 6Nm (See Figure
1.1 below)
-Click on VG10 (See Figure 1.2 and 1.3 below)
•Mount the tool cable
-The cable fits smoothly 270º around the VG10 and tool changer (See Figure 1.3)
•Disable or uninstall other URCaps that use the tool connector
•Install the VG10 URCap
-Insert the supplied USB stick into the UR teach pendant
-UR Main Menu →Setup Robot →URCaps
-Press “+”
-Select USB stick →“VG10-URCap”
-Press “open”
-Press “restart”
•Ready
-Use the dedicated VG10 program structures to control the vacuum
-Move the four VG10 arms to your preferred angles; simply overcoming the
friction by hand
-Remove and add vacuum cups as you prefer; close unused holes with the blind
screws
DANGER
You must read, understand and follow all safety information in
this manual, and the robot manual and all associated
equipment before initiating robot motion. Failure to comply
with safety information could result in death or serious injury.
Click!
Figure 1.3
1x Ø6 mm Pin
4x M6 Torx30

Page 9 of 40
Troubleshooting
•If the URCap is installed but the structures “VG10 Grip”or “VG10 Release” do not
work, try:
-Uninstall all URCaps, reboot UR control box and reinstall the VG10 URCap
-Check that the tool cable is undamaged and mounted correctly
-Check if a new empty program works
•If URCaps is not supported on the robot, try:
-Update the UR robot software to version 3.4 or higher
-Avoid URCap functionality by using the script commands, in the Script
Commands Section.
-Avoid URCap functionality by simply activating the tool I/O’s (Default vacuum
= 60%)
•If the program periodically stops with the condition “No controller” (i.e. UR
controller crash)
-Consult your local UR robot supplier for troubleshooting
Updating software
The software consists of the URCap and firmware inside the VG10. When an URCap is
installed on a robot it automatically includes the compatible firmware for the VG10.
Because the URCap and firmware comes as a pair, compatibility between the two is
guaranteed.
•Install the new URCap
-Simply follow the “installation” guide in this manual
•Update VG10 firmware
-UR main menu →Program Robot →Installation →VG10
-Wait a few seconds until the current firmware version appears
-If an “update” button appears: Press the button and wait until the new
firmware version is installed
-If no “update” button appears: The compatible firmware is already installed in
the VG10
INFO
•It is recommended to keep all robots in the same facility updated
with the same URCap version. By doing so, it is possible to switch
between different robots and VG10’s without the need to update
any software.
•The newest software is always available www.onrobot.com.

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.