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Register: POSITION REQUEST ECHO
Address: Byte 3
Bits 7 6 5 4 3 2 1 0
Symbol
gPR
gPR : Echo of the requested position for the Gripper, value between 0x00 and 0xFF.
0x00 - Full opening.
0xFF - Full closing.
Register: POSITION
Address: Byte 4
Bits 7 6 5 4 3 2 1 0
Symbol
gPO
gPO : Actual position of the Gripper obtained via the encoders, value between 0x00 and 0xFF.
0x00 - Fully opened.
0xFF - Fully closed.
Register: FINGER CURRENT
Address: Byte 5
Bits 7 6 5 4 3 2 1 0
Symbol
gCU
gCU : The current is read instantaneously from the motor drive, value between 0x00 and 0xFF, approximate current equivalent is 10 * value read in mA.
Tip
Built-in features like object detection and force control use the finger's electrical current readings. The user does not need to create these
features.
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