ROBOTIQ 2F-140 - Robot Input Registers & Status

2F-85 & 2F-140 - Instruction Manual
4.4.Robot Input Registers& Status
4.4.1.Register: GRIPPER STATUS
Address: Byte 0
Bits 7 6 5 4 3 2 1 0
Symbols gOBJ gSTA gGTO Reserved gACT
gACT
Activation status, echo of the rACT bit (activation bit).
l
0x0 - Gripper reset.
l
0x1 - Gripper activation.
gGTO
Action status, echo of the rGTO bit (go to bit).
l
0x0 - Stopped (or performing activation / automatic release).
l
0x1 - Go to Position Request.
gSTA
Gripper status, returns the current status and motion of the gripper fingers.
l
0x00 - Gripper isin reset ( or automatic release ) state. See Fault Status if gripper isactivated.
l
0x01 - Activation in progress.
l
0x02 - Not used.
l
0x03 - Activation is completed.
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