ROBOTIQ 2F-140 - Page 51

2F-85 & 2F-140 - Instruction Manual
rATR
Automatic Release routine action slowly opensthe gripper fingers until all motion axesreach their mechanical limits. After all
motions are completed, the gripper sendsa fault signal and needsto be reinitialized before any other motion is performed. The
rATRbit overrides all other commands excluding the activation bit (rACT).
l
0x0 - Normal.
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0x1 - Emergency auto-release.
Caution
The automatic release is meant to disengage the gripper after an emergency stop of the robot.
The automatic release is not intended to be used under normal operating conditions.
Automatic release will require the rACT to be cleared (rACT == 0)then set (rACT == 1).
rARD
Auto-release direction. When auto-releasing, rARD commands the direction of the movement. The rARD bit should be set prior to
or at the same time as the rATRbit, asthe motion direction isset when the auto-release is initiated.
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0x0 - Closing auto-release
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0x1 - Opening auto-release
4.3.2.Register: GRIPPEROPTIONS
Address: Byte 1
Bits 7 6 5 4 3 2 1 0
Symbol Reserved
4.3.3.Register: GRIPPEROPTIONS2
Address: Byte 2
Bits 7 6 5 4 3 2 1 0
Symbol Reserved
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