ROBOTIQ 2F-140 - Page 57

2F-85 & 2F-140 - Instruction Manual
4.4.4.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.
l
0x00 - Full opening.
l
0xFF - Full closing.
4.4.5.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.
l
0x00 - Fully opened.
l
0xFF - Fully closed.
4.4.6.Register: CURRENT
Adress: 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 is10 *
value read in mA.
Tip
Built-in features like object detection and force control use the fingers' electrical current readings. The user does not
need to create these features.
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