DATASHEETVGP20v1.4

DATASHEET

1. Datasheet
1.1. VGP20
General Properties

Minimum Typical Maximum Unit

Vacuum

5%-0.05
1.5-

60 %-0.607
17.95[Vacuum][Bar][inHg]

Air flow in total

0-48[L/min]Air flow on each channel

0-12[L/min]Payload (with default attachments)-

10 (1)
22.04

20 (2)
44.09

[kg]
[lb]

Vacuum cups11624 (5)[pcs.]

Gripping time (measured with vacuum target 40%)-

0.25 (3) -[s]Releasing time-

0.4 (3)-[s]

Noise level (4)-6771[dB(A)]

Vacuum pumpIntegrated, electric BLDC

Dust filters

Integrated 50µm, field replaceable

IP Classification

IP54 (6)Dimensions

264 x 184 x 92
10.39 x 7.24 x 3.62[mm][inch]

Weight

2.55
5.62

[kg]
[lb]

(1) The maximum payload capacity for standard cardboard is typically 10 kg, requiring theutilization of all available suction cups.
(2) 20 kg payload can be achieved with low accelerations (0.2G added to 1G; 1G = gravity =9.82 m/s2). Other conditions may apply.
(3) The gripping time can be shortened with smaller or less suction cups. The release timedepends on the payload. With high payload, you can achieve fast release time.
(4) For more information, see Noise Level section.
(5) Using the High-payload Bracket (Sold separately)(6) Do not use vacuum grippers in wet or damp conditions, particularly in CNC applications
with moisture or cutting fluids. It can damage the gripper.

2

Operating Conditions

Minimum Typical Maximum Unit

Power supply

20.4

24

28.8

[V]

Current consumption

5025004500[mA]

DATASHEET

Operating Conditions

Minimum Typical Maximum Unit

Operating temperature (gripper and vacuum cups)

032-

50
122

[°C]
[°F]

Relative humidity (non-condensing)

0-95[%]

Calculated operation life

25 000--[hours]

4 Channels
The VGP20 has 16 holes to use fittings with vacuum cups or blinding screws as needed. It
also has lines which show the holes that are communicated together. This is useful whenusing the channels independently for vacuum.

High-payload Bracket
The VGP20 can be used with a High-payload Bracket (Not included. Accessory Item #113922)
that provides 24 holes for extra suction cups, offering more space between the workpiece
centre. Furthermore, the bracket features 4 vacuum inlets, allowing for the connection of an
external vacuum source when additional vacuum assistance is required. The bracket features
three tie tube holes to securely position and organize the tubes when external vacuum isrequired. The bracket weight is 475 g (1.05 lb).
The High-payload Bracket includes the following components:(A) Blinds x8(B) Screws x8(C) Suction Cups x8(D) Vacuum Inlets x4(E) Strips x33

DATASHEET(T) The high-payload bracket features three tube tie holes designed to organize the vacuumtubes.
To mount the High-payload Bracket simply remove the fittings or blinding screws from thegripper, place the bracket and tighten the 8 screws.
NOTE:
When an external vacuum source is not being utilized, it is needed to position
the blinds onto the brackets.

Determining Maximum Vacuum Based on the Workpiece
Different workpiece types have varying vacuum capabilities due to air leakage. Refer to theVacuum and Airflow sections for more information.

4DATASHEET

A. Through D:PLOY/WebClient Setup
To find the maximum vacuum quickly, use a graphical user interface like D:PLOY/WebClient:
1. Attach all suitable suction cups.
2. Position the VGP20 on the workpiece in the desired gripping configuration.
3. Set target vacuum to 60 kPa.
4. Grip on all channels that engage your object.
5. Observe and record the current vacuum levels, which represent the maximum attainabletarget vacuum.
6. The lowest vacuum level obtained can be referenced in the accompanying graph as therecommended maximum payload. Examples are provided adjacent to the graph:

Example 1••

Payload: 4 kg
Achievable vacuum level with 8 cups: 40 kPa

According to the graph, a minimum of 7 OnRobot standard suction cups is required. However,using 8 cups is more appropriate.

5DATASHEETExample 2 (High-payload Bracket needed)••

Payload: 10 kg
Achievable vacuum level with 20 cups: 35 kPa

According to the graph, a minimum of 19 OnRobot standard suction cups is required.
However, using 20 cups is more appropriate.
Example 3 (High-payload Bracket and a external vacuum needed)••

Payload: 15 kg
Achievable vacuum level with 24 cups: 20 kPa

The number of OnRobot standard suction cups alone cannot meet the requirement.
According to the graph, when using 24 cups, a minimum vacuum level of 42.5 kPa isnecessary.
This indicates the need for assistance from an external vacuum source.

B. Through Manual Setup
In the absence of a graphical user interface or access to WebClient, follow these steps:
1. Set the target vacuum to 20% and verify if the gripper can attain it.
2. If successful, increase the target vacuum to 30% and check if the gripper can achieve it.
3. If successful, continue incrementing in 10% steps until the vacuum cannot be achieved.
4. When the vacuum cannot be achieved, decrease the target vacuum by 5% increments
until the vacuum is successfully attained.

How to connect an external vacuum accessory

6

DATASHEETNOTE:
Max current ratings for digital outputs:
OR:BASE 100 mA at 24 V DC.
OR:MACHINE 1 A dry contacts max 60 VDC/VAC.
Compute Box 100 mA total for 8 digital outputs at 24 VDC.
D:PLOY

Fully Supported

Manual robot program using a Compute Box

Create a WebLogic program

Palletizer App using a Compute Box

Not Supported

Through a Vacuum Pump
Establish a connection between the vacuum
inlets of the bracket and the Vacuum Pump (V)using tubes.
Place valves (A, B, C and D) between them.
We recommend using a Solenoid valve toallow a minimum capacity of suction flow rateof 100 L/min.

Through a Compressed Air Pump
Using compressed air is the preferred method to achieve an external vacuum. The examples
below will explore different applications and features, with accompanying pneumatic
diagrams for clarity.
To establish a connection between the vacuum inlets of the bracket and the Compressed Air
Pump (P), use tubes.
Place valves between them. We recommend using a Solenoid valve to allow a minimum
capacity of suction flow rate of 100 L/min. To achieve a vacuum, incorporate vacuum ejectors.
We recommend using a SMC ZU07SA model.
Ensure that each valve is connected to a Digital Output (DO1, DO2, DO3 and/or DO4) for
controlling the vacuum.
4 channel external vacuum for boxes and no interlayer7DATASHEET

Place valves (E, F, G and H)
between the inlets and theCompressed Air Pump (P).

Setup the DO1, DO2, DO3, and DO4 to follow the VGP20
channel A, B, C, and D.
The A, B, C, and D channel are used on VGP20.
The DO1 – DO4 will activate the external vacuum.

One channel external vacuum for boxes and no interlayer
Example with only one external vacuum generator. When only one valve and one injector areused the size must be larger to generate sufficient vacuum flow for 4 channels.

Place a valve (I) between the inlets and theCompressed Air Pump (P).

Setup the DO1 to follow the VGP20 channel A.
The A, B, C, and D channel are used on VGP20.
The DO1 will activate the external vacuum.

One channel external vacuum for boxes and interlayer

8DATASHEETExample with only one external vacuum generator. When only one valve and one injector areused the size must be larger to generate sufficient vacuum flow for 4 channels.

Place a valve (I) between the inlets and theCompressed Air Pump (P).

Setup the DO1 to follow the VGP20 channel A.
When handling boxes A, B, C, and D channels
are used on VGP20. The DO1 will activate theexternal vacuum.
When handling Interlayers the B, C, and Dchannels are used. The DO1 is not activated.
The one-way valve stops the air leak throughthe vacuum injector and a low target vacuum
can be selected in the pick sequence forinterlayers.

Two channels external vacuum for boxes with blow off functionality and interlayer
When only two valves and two injectors are used the size must be larger to generatesufficient vacuum flow for 4 channels.

9DATASHEET

Place valves (J and K) between the inlets and Setup the DO1 and DO2 to follow the VGP20
the Compressed Air Pump (P).
channel A and D.
When handling boxes A, B, C, and D channel
are used on VGP20. The DO1 and DO2 will
activate the external vacuum.
When handling Interlayers the B and C
channel are used. The DO1 and DO2 are notactivated. The one-way valves stop the airleak through the vacuum injectors and a low
target vacuum can be selected in the picksequence for interlayers. The power of theblow off functionality depends on the size ofthe reservoir, the length, dimension of thetubes etc.
Iconography

Description

Iconography

Description

One mono stabile three portvalve.

ON State

Off State

Reservoir

Vacuum Injector

Compressed air
supplyA - Compressed Air
V - Vacuum
E - Exhaust

Vacuum Cups
The gripper comes with common 40 mm silicone vacuum cups (see table below) which aregood 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 ofpainting processes afterwards.
Image

External Diameter [mm]Internal Diameter [mm]Gripping Area [mm2]4024450

For non-porous materials, the OnRobot suction cups are highly recommended. Some of themost common non-porous materials are listed below:••

10Composites
Glass

DATASHEET

•
••
•
•
•

High density cardboard
High density paperMetals
PlasticPorous materials with a sealed surface
Varnished wood

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 airleakage (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 thespecifications. Some of the most common porous materials are listed below:
••
•
•
•
•
•

Fabrics
Foam
Foam with open cells
Low density cardboard
Low density paper
Perforated materials
Untreated wood

The following graph provides an overview of the vacuums that can be achieved dependingon the workpiece porousness.

Porousness vs Vacuum graphSee the table below with general recommendations, in case other suction cups are needed
for specific materials.

11DATASHEETWorkpiece 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 typeSpecial 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.

Suction Cups for Foil and Bags Ø25
This suction cup improves the vacuum gripper’s ability to pick and place workpieces withsurface of foil, thin paper, and plastic bags during irregular and angular arm movement.

25 mm
Number of Cups

12

3

4Surface

56

78kg

Foil

0.83

1.07

1.43

1.57

1.79

2.03

2.27

2.51

Thin paper

1.08

1.71

2.23

3.21

3.74

4.37

55.63

Foil - round shape

1.282.32

3.32

4.25

5.44

6.48

7.52

8.56

Plastic bag

0.32

0.54

0.63

0.74

0.94

1.09

1.25

1.405

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:

12.

DATASHEETThis vacuum cup is an accessory and need to be purchased separately. To purchase thevacuum cup, contact the vendor from where the VGx gripper has been purchased.
•Suction Cups for foil and bags Ø25 - PN 105922

VacuumVacuum is defined as the percentage of absolute vacuum achieved relative to atmosphericpressure, i.e.:% vacuum Bar
0%
20%
40%
60%

0.00rel.

kPa

inHg

0.00rel.

0.0rel.

1.01 abs. 101.3 abs. 29.9 abs.
0.20rel.

20.3rel.

6.0rel.

0.81 abs. 81.1 abs.

23.9 abs.

0.41rel.

12.0rel.

40.5rel.

0.61 abs. 60.8 abs. 18.0 abs.
0.61rel.

60.8rel.

18.0rel.

0.41 abs. 40.5 abs. 12.0 abs.

Typically used forNo vacuum / No lifting capacity
Cardboard and thin plastics
Light workpieces and long suction cup life span
Heavy workpieces and strongly secured grips

The vacuum in kPa setting is the target vacuum. The pump will run at full speed until thetarget vacuum is achieved, and then run at a lower speed necessary to maintain the targetvacuum.
The pressure in the atmosphere varies with weather, temperature and altitude. The gripper
automatically compensates for altitudes up to 2 km, where the pressure is about 80% of sea
level.

Airflow

13DATASHEETAirflow is the amount of air that must be pumped to maintain the target vacuum. A completelytight system will not have any airflow, 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 airflow to create a pressure difference over it (see figure below).

Be aware of the following:••

Pay extra attention to leakages, e.g. vacuum cup shape and surface roughness.
When gripping an object with high leakage, be sure to use as many of the channels A, B,C, and D as possible.

The following graph shows the airflow capability of the gripper.
NOTE:
The airflow depends on the number of used channels.

14

DATASHEETNOTE:The easiest way to check if a cardboard box is sufficiently tight is simply to test
it using the gripper.
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 vacuumcups. This means that the filters and the vacuum cups will last longer.

Fittings and Blind Screws
It is possible to change the suction cups simply by pulling them off the fittings. Stretch thesilicon to one of the sides and then pull the suction cup out.
Unused holes can be blinded using a blind screw, and each fitting can be changed to adifferent type to match the desired suction cup. The fittings and the blinding screws aremounted or dismounted by screwing (2 Nm tightening torque) or unscrewing them with theprovided 3 mm hex key.

15

DATASHEET

Fittings

Blind

The thread size is the commonly used G1/8”; allowing for standard fittings, blinders, andextenders to be fitted directly to the gripper.

Remove Pump Exhaust
It is possible to lead the pump exhaust air away from the gripper. By removing the silencer on
the side of the gripper, a G1/8 thread is available for a fitting and a tube to guide away theexhaust.

Customize the Gripper
You can mount any customized equipment needed by using the available M6 threads on thebottom surface of the gripper.
Examples of a customized gripper:••

16

A plate is mounted to the gripper by the M6 holes in the cabinet. The plate thickness has
to be at least 12 mm to fit the suction cup and the fitting.
The plate has 8 G1/8 threads trough the plate for the suction cups. The existing suction
cups including fittings can then be used.

DATASHEET•••

G1/8 fittings can be used directly above the suction cups (this is not included).
Same fitting can be used on the gripper and tubes can then be mounted in between.
To get optimum lifting capacity, the suction cups must be divided equally for each channelon the gripper.

NOTE:
For frames that are larger than twice the size of the VGP20, we recommend
installing a stabilizing structure. This will help minimize deflection in the gripper
and protect the QC from continuous stress during acceleration anddeceleration. See examples below of how such stabilizers can be designed.

17DATASHEET

Noise Level
The noise level of the gripper depends on the workpiece's surface and geometry, and more
specifically on the leakage of the surface. It also depends on the surroundings and otherequipment.
To measure the VGP20’s noise level, a test has been carried out by an external company.
The test setup was the following:••••

The test took place on a normal indoor production area.
They used 4 different uncoated and 1 coated coarse cardboard as workpiece.
The test run 4 cycles combining grips, robot moving holding the workpiece for 8 seconds,
robot moving without the workpiece for 7 seconds, and releases.
The noise measurement equipment was located 1 m distance from the robot arm.

The test concludes that the average measured noise level for the worst box was 71 dB(A) andthe average noise for the 5 boxes was 67 dB(A) which is far below the maximum allowed
noise level (80 dB(A)). Therefore, similar setups will not cause hearing damage on people
remaining close to the VGP20.
Using a more dense uncoated cardboard as workpiece will significantly drop the noise level.

18DATASHEET

1.2. VGP20 box content

19

DATASHEET

1.3. VGP2020

DATASHEETVGP20 High-payload Bracket

All dimensions are in mm and [inches].

21