2F-85 & 2F-140 - Instruction Manual
4.2.Gripper Register Mapping
Caution
Byte numeration startsat zero and not at 1 for the functionalitiesand status registers.
Register Robot Output / Functionalities Robot Input / Status
Byte 0 ACTION REQUEST GRIPPER STATUS
Byte 1 RESERVED RESERVED
Byte 2 RESERVED FAULT STATUS
Byte 3 POSITION REQUEST POS REQUEST ECHO
Byte 4 SPEED POSITION
Byte 5 FORCE CURRENT
Byte 6 to 15 RESERVED RESERVED
Table 4-1: Registers of the 2-Finger Gripper.
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