ROBOTIQ Gripper - Page 42

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual
Robotiq inc. © 2008 - 2014 42
Register mapping for the Advanced Control Mode :
REGISTER ROBOT OUTPUT /
FUNCTIONALITIES
ROBOT INPUT / STATUS
Byte 0 ACTION REQUEST GRIPPER STATUS
Byte 1 GRIPPER OPTIONS OBJECT DETECTION
Byte 2 GRIPPER OPTIONS #2 (EMPTY) FAULT STATUS
Byte 3 POSITION REQUEST (FINGER A
IN INDIVIDUAL MODE)
POS. REQUEST ECHO
Byte 4 SPEED (FINGER A IN INDIVIDUAL
MODE)
FINGER A POSITION
Byte 5 FORCE (FINGER A IN INDIVIDUAL
MODE)
FINGER A CURRENT
Byte 6 FINGER B POSITION REQUEST FINGER B POS. REQUEST ECHO
Byte 7 FINGER B SPEED FINGER B POSITION
Byte 8 FINGER B FORCE FINGER B CURRENT
Byte 9 FINGER C POSITION REQUEST FINGER C POS. REQUEST ECHO
Byte 10 FINGER C SPEED FINGER C POSITION
Byte 11 FINGER C FORCE FINGER C CURRENT
Byte 12 SCISSOR POSITION REQUEST SCISSOR POS. REQUEST ECHO
Byte 13 SCISSOR SPEED SCISSOR POSITION
Byte 14 SCISSOR FORCE SCISSOR CURRENT
Byte 15 RESERVED RESERVED