1. Datasheet 1.1. VG10 General Properties Arms adjustment Vacuum cups Gripping time Releasing time Vacuum pump Integrated, electric BLDC Dust filters Integrated 50µm, field replaceable Dimensions (folded) Dimensions (unfolded) Weight Operating Conditions Power supply Current consumption Operating temperature Relative humidity (non-condensing) Calculated MTBF (operating life)

Positioning the VG10 Arms and Channels The arms can be folded to the preferred position simply by pulling in the arms. The torque needed to overcome the friction in the rotatable joints of the arm is high (6 N/m) to ensure that the arms do not move when handling 15 kg payloads. The VG10 suction cups are grouped into two independent channels. When the four arms are adjusted to preferred angles, it is recommended to add the accompanied arrow stickers. This allows for easy realignment and exchanging between different work items. Payload The lifting capacity of the VG grippers depends primarily on...

For non-porous materials, the OnRobot suction cups are highly recommended. Some of the most common non-porous materials are listed below: • • • • • • • • Composites Glass High density cardboard High density paper Metals Plastic Porous materials with a sealed surface Varnished wood In an ideal case, working with non-porous material workpieces where there are no air flow going through the workpiece, the table below shows the number of cups and the cup size needed depending on the payload (workpiece mass) and the vacuum used. Number of Cups needed for non-porous materials depending on payload an

NOTE: To use more than 7 (15mm), 4 (30mm) or 3 (40mm) vacuum cups with the VGC10 a customized adaptor plate is needed. The table above is created with the following formula that equalizes the lifting force with the payload considering 1.5G of acceleration.

It is often a good idea to use more vacuum cups than needed, to accommodate for vibrations, leaks and other unexpected conditions. However, the more vacuum cups, the more air leakage (air flow) is expected and the more air is moved in a grip resulting in longer gripping times. When using porous materials, the vacuum that can be achieve by using the OnRobot suction cups will depend on the material itself and will be between the range stated in the specifications. Some of the most common non-porous materials are listed below: • • • • • • • Fabrics Foam Foam with open cells Low density cardboard...

Thin paper Foil - round shape The vacuum cup is silicone rubber compliant with the USA Food and Drug Administration (FDA). Using this vacuum cup reduces the wrinkles made on thin workpieces (film, vinyl, and so on) during absorption: This vacuum cup is an accessory and need to be purchased separately. To purchase the vacuum cup, contact the vendor from where the VGx gripper has been purchased. • Suction Cups for foil and bags Ø25 - PN 105922 Fittings and Blind Screws It is possible to change suction cups simply by pulling them off the fittings. It might be a bit challenging to remove the 15 mm...

Unused holes can be blinded using a blind screw, and each fitting can be changed to a different type to match the desired suction cup. The fittings and the blinding screws are mounted or dismounted by screwing (2Nm tightening torque) or unscrewing them with the provided 3 mm Allen key. The thread size is the commonly used G1/8”; allowing for standard fittings, blinders and extenders to be fitted directly to the VG grippers. Vacuum Vacuum is defined as the percentage of absolute vacuum achieved relative to atmospheric pressure, i.e.: % vacuum Bar No vacuum / No lifting capacity Cardboard and thin...

Leaking vacuum cup lips Leaking workpieces The smallest leak under a vacuum cup can be hard to find (see picture below). Leaking workpieces can be even harder to identify. Things that look completely tight might not be tight at all. A typical example is coarse cardboard boxes. The thin outer layer is often requiring a lot of air flow to create a pressure difference over it (see figure below). Therefore, the users must be aware of the following: • • VG grippers are not suitable for most uncoated, coarse cardboard boxes. Extra attention must be paid to leakages, e.g. vacuum cup shape and surface...

NOTE: The easiest way to check if a cardboard box is sufficiently tight is simply to test it using the VG grippers. A high vacuum percentage setting does not give a higher lifting capacity on corrugated cardboard. In fact, a lower setting is recommended, e.g. 20%. A low vacuum setting results in less air flow and less friction below the vacuum cups. This means VG gripper filters and vacuum cups will last longer.