KAWASAKI ROBOTS. ORIGINAL INSTRUCTION (v1.05) - page 6

Hardware Specification

162

The Push-in Fittings are used to attach 4 mm vacuum tubes to create customized configuration that
required remote vacuum. In most cases, this size is enough for generating the needed vacuum from the
pump in the gripper.

The commercial name of the Push-in Fittings is Fitting QSM-G1/8-4-I-R in case some more units need to
be purchased.

An example of a customized configuration with a homemade adaptor plate and remote vacuum is shown
below.

Hardware Specification

163

The image below shows how the push-in fittings and the normal fittings are communicated.

Payload

The lifting capacity of the VG grippers depends primarily on the following parameters:

•

Vacuum cups

•

Vacuum

•

Air flow

Vacuum Cups

Choosing the right vacuum cups for your application is essential. The VG grippers come with common 15,
30 and 40 mm silicone vacuum cups (see table below) which are good for hard and flat surfaces, but not
good for uneven surfaces and it might leave microscopic traces of silicone on the workpiece which can
cause issues with some types of painting processes afterwards.

Image

External Diameter
[mm]

Internal Diameter
[mm]

Gripping Area
[mm2]

110

200

450

Hardware Specification

164

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 and vacuum:

NOTE:

15mm

30mm

40mm

Payload
(kg)

Vacuum (kPa)

Hardware Specification

165

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.

Amount

Cups

. Area

Cup

[mm} = 19600

Payload [kg]

Vacuum [kPa]

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

•

Low density paper

•

Perforated materials

•

Untreated wood

See the table below with general recommendations, in case other suction cups are needed for specific
materials.

Workpiece surface

Vacuum cup shape

Vacuum cup material

Hard and flat

Normal or dual lip

Silicone or NBR

Soft plastic or plastic bag

Special plastic bag type

Hard but curved or uneven

Thin dual lip

Silicone or soft NBR

To be painted afterwards

Any type

NBR only

Varying heights

1.5 or more bevels

Any type

NOTE:

It is recommended to consult a vacuum cup specialist to find the
optimal vacuum cup where the standard types are insufficient.

Hardware Specification

166

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 Diameter vacuum cups. As suggestion try to stretch the silicon to one of the sides and
then pull it out.

Unused holes can be blinded using a blind screw, and each fitting can be changed to a diffe rent 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 f

or standard fittings, blinders and extenders to be

fitted directly to the VG grippers.

Hardware Specification

167

Vacuum

Vacuum is defined as the percentage of absolute vacuum achieved relative to atmospheric pressure, i.e.:

The vacuum in kPa setting is the target vacuum. The pump will run at full speed until the target vacuum
is achieved, and then run at a lower speed necessary to maintain the target vacuum.

The pressure in the atmosphere varies with weather, temperature and altitude. The VG g rippers
automatically compensate for altitudes up to 2km, where the pressure is about 80% of sea level.

Air flow

Air flow is the amount of air that must be pumped to maintain the target vacuum. A completely tight
system will not have any air flow, whereas real life applications have some smaller air leakages from two
different sources:

•

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.

% vacuum

Bar

kPa

inHg

Typically used for

0.00rel.
1.01 abs.

0.00rel.
101.3 abs.

0.0rel.
29.9 abs.

No vacuum / No lifting capacity

20%

0.20rel.
0.81 abs.

20.3rel.
81.1 abs.

6.0rel.
23.9 abs.

Cardboard and thin plastics

40%

0.41rel.
0.61 abs.

40.5rel.
60.8 abs.

12.0rel.
18.0 abs.

Light workpieces and long suction cup life span

60%

0.61rel.
0.41 abs.

60.8rel.
40.5 abs.

18.0rel.
12.0 abs.

Heavy workpieces and strongly secured grips

80%

0.81rel.
0.20 abs.

81.1rel.
20.3 abs

23.9rel.
6.0 abs.

Max. vacuum. Not recommended

Hardware Specification

168

•

Extra attention must be paid to leakages, e.g. vacuum cup shape and surface roughness

The air flow capability of a VG grippers is shown in the graph below:

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.

VG pump, air flow performance

Vacuum percentage

Hardware Specification

169

9.2

Mechanical Drawings

9.2.1

Adapter plate(s)

Hardware Specification

170

Adapter B

ime

Hardware Specification

171

Adapter C

ime

Hardware Specification

172

Adapter D

ime

Hardware Specification

173

Adapter E

Hardware Specification

174

9.2.2

Mountings

Quick Changer - Robot side .............175

Quick Changer for I/O - Robot side ..176

Dual Quick Changer ........................177

HEX-E/H QC ....................................178

Hardware Specification

175

Quick Changer -

Robot side

* Distance from Robot flange interface to OnRobot tool.

All dimensions are in mm and [inches].

Hardware Specification

176

Dual Quick Changer

* Distance from Robot flange interface to OnRobot tool

All dimensions are in mm and [inches].

Hardware Specification

177

HEX-E/H QC

* Distance from Robot flange interface to OnRobot tool

All dimensions are in mm and [inches].

Hardware Specification

178

9.2.3

Tools

Gecko .............................................179

RG2-FT ...........................................180

RG2 ................................................181

RG6 ................................................182

VG10 ..............................................183

VGC10 ............................................185

Quick Changer - Tool side ................187

Hardware Specification

179

Gecko

All dimensions are in mm and [inches].

Hardware Specification

180

RG2-FT

All dimensions are in mm and [inches].

Hardware Specification

181

RG2

All dimensions are in mm and [inches].

Hardware Specification

182

RG6

All dimensions are in mm and [inches].

Hardware Specification

183

VG10

All dimensions are in mm and [inches].

Hardware Specification

184

All dimensions are in mm and [inches].

Hardware Specification

185

VGC10

All dimensions are in mm and [inches].

Hardware Specification

186

All dimensions are in mm and [inches].

Hardware Specification

187

Quick Changer -

Tool side

All dimensions are in mm and [inches].

Hardware Specification

188

9.3

Center of Gravity

COG, TCP, and weight parameters of the single devices (without any mounting/adapter):

HEX-E/H QC

Coordinate system

TCP [mm]

Center of Gravity [mm]

Weight

X=0
Y=0
Z=50

cX=0
cY=5
cZ=20

0.35 kg

0.77 lb

Gecko

Coordinate system

TCP [mm]

Center of Gravity [mm]

Weight

X=0
Y=0
Z=187

cX=0
cY=0
cZ=113

2.83 kg

6.10 lb

RG2-FT

Coordinate system

TCP [mm]

Center of Gravity [mm]

Weight

X=0
Y=0
Z=205

cX=0
cY=0
cZ=65

0.98 kg

2.16 lb

* Mounted at 0˚

RG2

Coordinate system

TCP [mm]

Center of Gravity [mm]

Weight

X=0
Y=0
Z=200

cX=0
cY=0
cZ=64

0.78 kg

1.72 lb

* Mounted at 0˚

Hardware Specification

189

RG6

Coordinate system

TCP [mm]

Center of Gravity [mm]

Weight

X=0
Y=0
Z=250

cX=0
cY=0
cZ=90

1.25 kg

2.76 lb

* Mounted at 0˚

VG10

Coordinate system

TCP [mm]

Center of Gravity [mm]

Weight

X=0
Y=0
Z=105

cX=15
cY=0
cZ=54

1.62 kg

3.57 lb

* With arms folded back

VGC10

Coordinate system

TCP [mm]

Center of Gravity [mm]

Weight

X=0
Y=0
Z=7

cX=-1
cY=-1
cZ=37

0.814 kg

1.79 lb

* With no attachments

Maintenance

190

Maintenance

WARNING:

An  overall  inspection of  the  OnRobot's  End  of  Arm  Tooling  must  be
performed regularly and at  least once every 6 months. This inspection
must include but is not limited to check for defective material and clean
gripping surfaces.

Use original spare parts, and original service instructions for the
OnRobot's End of Arm Tooling and the robot. Failure to comply with this
precaution can cause unexpected risks, resulting in severe injury.

If you have questions regarding spare parts and repair, please visit our website

www.onrobot.com

Gecko .............................................190

RG2/6.............................................192

RG2-FT ...........................................192

VG10 / VGC10.................................192

Gecko

Gecko  Gripper  pads  are  made  from  a  precision  cast  silicone  or  polyurethane  film  with  a  gecko
microstructure. Contact with sharp objects may damage the pad surface and impair function. The Gecko
Gripper performance is maximized when the pads are clean and dry.  The pads can collect dust, so it is
best to use the Gecko Gripper in a clean environment and/or establish a routine cleaning schedule.

Replacing the Gripper Pads

Gecko Gripper pads are designed to last for 200,000-300,000 cycles under typical operating conditions. If
the pads do not seem to be gripping properly, even with routine cleaning (see table in the previous page),
we recommend fully replacing the gripper pads.

To replace the gripper pads, use the provided pad removal tool.

Step 1: Move gripper pads to the maximum extruded setting such that the pads are maximally
exposed/visible.

Part

Description of Maintenance

Frequency

Pad Cleaning

Routine cleaning:

Cleaning Station

Dependent on operating conditions.
Guidelines are:

See Cleaning Station User Guide

Pad Wear

Replacement due to wear

150000

–

200000 for HIGH preload

operation

200000

–

250000 for LOW preload

operation

Maintenance

191

Step 2: Insert the edge of the pad removal tool between the shiny silver plate of the pads and the dull
backing plate. Leverage the pad removal tool against the gripper housing to pry off the used pad. Repeat
for all pads.

Step 3: To install new replacement pads, align the notch of the pad with the tab in the mounting hole.
Push the pad into the gripper until there are no gaps between the shiny silver pad plate and backing plate.

Maintenance

192

RG2/6

WARNING:

An overall inspection of the PLd CAT3 Safety Buttons must be performed
regularly and at least once every 6 months.

RG2-FT

WARNING:

Please clean the proximity sensor surface regularly with low pressure
compressed air (<5 bar) from a 5 cm distance. For stronger
contamination use isopropyl alcohol with a soft cotton swab to keep it
clean.

VG10 / VGC10

The VG grippers are equipped with one filter for each suction cup socket, and one filter for the exhaust.
How often the filters need to  be changed depends on the nature of the work piece and  the working
environment. The VG grippers automatically de-dust the filters every time a grip  is  released. However,
particles can eventually get stuck and build up inside the filter, lowering the VG  grippers performance.

A filter service kit is available, which include both new filters and tools needed.

Filter service kit for VG10, PN 100064

Filter service kit for VGC10, PN 103757

Neither use nor power on the VG grippers without filters. Dust, hair and larger particles can get stuck in
pump membranes and valve seats, causing permanent damage to the VG grippers.

DANGER:

Identify how often the filters need service and schedule maintenance
with a fixed period short enough to ensure a firm grip at all times.

An overall inspection of the VG grippers must be performed regularly
and at least once every 6 months.

Never power the VG grippers without filters or with filters mounted
incorrectly. Failure to comply with this precaution can cause irreversible
failure of pump or valves.

Warranties

193

Warranties

11.1

Patents

Products of OnRobot A/S are protected by several patents; some still in global publication process (Patents
pending). All manufacturers of copies and similar products violating any patent claims will be prosecuted.

11.2

Product Warranty

Without prejudice to any claim the user (customer) may have in relation to the dealer or retailer, the

customer shall be granted a manufacturer’s warranty under the condition

s set out below:

In the case of new devices and their components exhibiting defects resulting from manufacturing and/or
material faults within 12 months of entry into service (maximum of 15  months from shipment), OnRobot
A/S shall  provide the necessary spare parts, while the customer (user) shall  provide working hours to
replace the spare parts, either replace the part with another part reflecting the current state of the art,
or  repair  the said  part. This  warranty shall  be invalid  if  the device defect is  attributable to  improper
treatment and/or failure to comply with information contained in the user guides. This warranty shall not
apply  to  or  extend to  services performed by the authorized dealer or  the customer themselves  (e.g.
installation,  configuration,  software  downloads).  The  purchase  receipt,  together  with  the  date  of
purchase, shall be required as evidence for invoking the warranty. Claims under the warranty must be
submitted  within  two  months  of  the  warranty  default  becoming  evident. Ownership of  d evices  or
components replaced  by  and  returned to  OnRobot  A/S shall  vest  in  OnRobot A/S. Any  other  claims
resulting out of or in  connection with the device shall  be excluded from this  warranty. Nothing in this
warranty shall  attempt to limit  or  exclude a cu

stomer’s statutory rights nor the manufacturer’s liability

for  death or  personal  injury resulting  from its  negligence. The  duration  of the  warranty shall  not  be
extended by services rendered under the terms of the warranty. Insofar as no warranty default e xists,
OnRobot A/S reserves the right to charge the customer for replacement or repair. The above provisions
do  not imply  a  change in  the  burden of  proof to  the detriment of  the customer. In  case  of a  device
exhibiting defects, OnRobot A/S shall not be liable  for any indirect, incidental, special or consequential
damages, including  but not  limited to, lost  profits, loss of use, loss of production or  damage to other
production equipment.

In case of a device exhibiting defects, OnRobot A/S shall not cover any consequential damage or loss, such
as loss of production or damage to other production equipment.

11.3

Disclaimer

OnRobot A/S continues to improve reliability and performance of its products, and therefore reserves the
right to upgrade the product without prior warning. OnRobot A/S ensures that the content of this manual
is precise and correct but takes no responsibility for any errors or missing information.

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