ROBOTIQ Gripper - Robot Input Registers & Status

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual
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4.5 Robot input registers & status
Register: GRIPPER STATUS
Address: Byte 0
Bits 7 6 5 4 3 2 1 0
Symbols
gSTA gIMC gGTO gMOD gACT
gACT : Initialization status, echo of the rACT bit (activation bit).
0x0 - Gripper reset.
0x1 - Gripper activation.
gMOD : Operation Mode status, echo of the rMOD bits (grasping mode requested).
0x00 - Basic mode.
0x01 - Pinch mode.
0x02 - Wide mode.
0x03 - Scissor mode.
gGTO : Action status, echo of the rGTO bit (go to bit).
0x0 - Stopped (or performing activation / grasping mode change / automatic release).
0x1 - Go to Position Request.
gIMC : Gripper status, returns the current status of the Gripper.
0x00 - Gripper is in reset (or automatic release) state. See Fault status if Gripper is activated.
0x01 - Activation is in progress.
0x02 - Mode change is in progress.
0x03 - Activation and Mode change are complete.
gSTA : Motion status, returns the current motion of the Gripper fingers.
0x00 - Gripper is in motion towards requested position (only meaningful if gGTO = 1).
0x01 - Gripper is stopped. One or two fingers stopped before requested position.
0x02 - Gripper is stopped. All fingers stopped before requested position.
0x03 - Gripper is stopped. All fingers reached requested position.
Hint
Monitoring Motion status and Object status (in byte 1) are very useful for object pick-up routines.