ROBOTIQ Gripper - Page 46

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual
Robotiq inc. © 2008 - 2014 46
Figure 4.4.1 : Reachable workspace of the fingers and scissor axis, zone 1 is never reachable, zone 2 is only
reachable in individual control of Scissor Mode.
Register: SPEED (FINGER A IN INDIVIDUAL MODE)
Address: Byte 4
Bits 7 6 5 4 3 2 1 0
Symbols
rSPA
This register is used to set the Gripper closing or opening speed (or Finger A only if bit is set) in real time,rICF
however, setting a speed will not initiate a motion.
rSPA
0x00 minimum speed
0xFF maximum speed
Info
0x00 speed does not mean absolute zero speed. It is the minimum speed of the Gripper.
Minimum speed: 22 mm/s
Maximum speed: 110 mm/s
Speed / count: 0.34 mm/s
Register: FORCE (FINGER A IN INDIVIDUAL MODE)