Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual
Robotiq inc. © 2008 - 2014 44
Address: Byte 1
rICF: In Individual Control of Fingers Mode each finger receives its own command (position request, speed and
force) unless the Gripper is in the Scissor Grasping Mode and the Independent Control of Scissor ( ) is notrICS
activated. Please refer to the (Position Request) register description for information about the reachablerPRA
positions of the fingers.
0x0 - Normal.
0x1 - Enable Individual Control of Fingers A, B and C.
Caution
As soon as the bit is set, the fingers will move towards the target defined by the positionrICF
request bytes. To avoid unwanted motion of the fingers, it is preferable to define the position
requests before setting the bit. It is also possible to clear the bit, configure therICF rGTO
registers according to the desired motion and then set the bit to start the motion.rGTO
Bits 7 6 5 4 3 2 1 0
Symbols
Reserved rICS rICF Reserved
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