ROBOTIQ 2F-140 - Page 52

2F-85 & 2F-140 - Instruction Manual
4.3.4.Register: POSITION REQUEST
Address: Byte 3
Bits 7 6 5 4 3 2 1 0
Symbol rPR
This register isused to set the target position for the gripper'sfingers. The positions 0x00 and 0xFF correspond respectively to the
fully opened and fully closed mechanical stops. For detailed finger trajectory, please refer to the Specificationssection.
l
0x00 - Open position, with 85 mm or 140 mm opening respectively
l
0xFF - Closed
l
Opening / count: 0.4 mm (for 85 mm stroke) and 0.65 mm (for 140 mm stroke)
Info
The activation will allow the gripper to adjust to any fingertips. No matter what is the size and/or shape of the fingertips,
0 will always be fully opened and 255 fully closed, with a quasi-linear relationship between the two values.
4.3.5.Register:SPEED
Address: Byte 4
Bits 7 6 5 4 3 2 1 0
Symbol rSP
This register isused to set the gripper closing or opening speed in real time, however, setting a speed will not initiate a motion.
l
0x00 - Minimum speed
l
0xFF - Maximum speed
52