ROBOTIQ 2-Finger 85 - Page 40

Robotiq 2-Finger Adaptive Gripper Instruction Manual
Robotiq inc. © 2016 40
rADR : Auto-release direction. When auto-releasing, commands the direction of the movement. rARD The bit should be set prior to or at the samerARD
time as the bit, as the motion direction is set when the auto-release is initiated.rATR
0x0 - Closing auto-release
0x1 - Opening auto-release
Register: GRIPPER OPTIONS
Address: Byte 1
Bits 7 6 5 4 3 2 1 0
Symbol Reserved
Register: GRIPPER OPTIONS 2
Address: Byte 2
Bits 7 6 5 4 3 2 1 0
Symbol Reserved
Register: POSITION REQUEST
Address: Byte 3
Bits 7 6 5 4 3 2 1 0
Symbol
rPR
This register is used to set the target position for the Gripper's fingers. The positions 0x00 and 0xFF correspond respectively to the fully opened and fully
closed mechanical stops. Figure 4.3.1 represents the Position Request values and the corresponding distance between fingers ( X axis). For detailed finger
trajectory, see: .Specification section
0x00 - Open position, with 85 mm or 140 mm opening respectively
0xFF - Closed
Opening / count : 0.4 mm (for 85 mm stroke) and 0.65 mm (for 140 mm stroke)
Info
Robotiq Adaptive Gripper auto-calibration will allow the Gripper to adjust to any fingertips. No matter the size and shape of the fingertips used, 0
will always be fully opened and 255 fully closed, with a quasi-linear relationship between 0 and 255.