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4.1 Overview
The Robotiq 2-Finger Adaptive Gripper is controlled directly via Modbus RTU using a RS 485 signal. It can also be controlled via an optional Robotiq
using an industrial protocol. The programming of the Gripper can be done with the Teach Pendant of the robot or by offlineUniversal Controller
programming. Communication method used to control the 2-Finger Gripper does not change the control logic or the registers setup described in the
following subsections.
Since the Robotiq 2-Finger has its own embedded controller, high-level commands, such as "Go to requested position" are used to control it.
Tip
Robotiq suggests using the Robotiq User Interface test software to explore the various features of the Gripper, like object detection and force
control.
Info
The operator can :
Control force, speed and position of the Gripper fingers.
Finger movement is always synchronized, movement is initiated via a single "Go to requested position" command.
Parallel or encompassing grip is done automatically.
A built in object detection feature is available, the user can be notified after an object is picked once the "Go to" command has been
initiated. The feature also works for lost or dropped objects, and the user can be alerted if an object is dropped after being detected.
Engage directional (open or close ) auto-release for emergencies.
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