ROBOTIQ Gripper - Page 51

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual
Robotiq inc. © 2008 - 2014 51
Register: OBJECT STATUS
Address: Byte 1
Bits 7 6 5 4 3 2 1 0
Symbols
gDTS gDTC gDTB gDTA
Hint
Object status byte provides you with a built-in object detection feature that can replace very
complex algorithms.
gDTA
0x00 - Finger A is in motion (only meaningful if gGTO = 1).
0x01 - Finger A has stopped due to a contact while opening.
0x02 - Finger A has stopped due to a contact while closing.
0x03 - Finger A is at the requested position.
gDTB : Finger B object detection status returns information on possible object contact from Finger B.
0x00 - Finger B is in motion (only meaningful if gGTO = 1).
0x01 - Finger B has stopped due to a contact while opening.
0x02 - Finger B has stopped due to a contact while closing.
0x03 - Finger B is at the requested position.
gDTC : Finger C object detection status returns information on possible object contact from Finger C.
0x00 - Finger C is in motion (only meaningful if gGTO = 1).
0x01 - Finger C has stopped due to a contact while opening.
0x02 - Finger C has stopped due to a contact while closing.
0x03 - Finger C is at the requested position.
gDTS : Scissor object detection status returns information on possible object contact from scissor maneuver.
0x00 - Scissor is in motion (only meaningful if gGTO = 1).
0x01 - Scissor has stopped due to a contact while opening.
0x02 - Scissor has stopped due to a contact while closing.
0x03 - Scissor is at the requested position.
When a contact is detected, the corresponding axis will stop unless one of these conditions is met: a new position
command is requested in the opposite direction, the requested force level is increased or the bit is clearedrGTO
and set again.
Warning
Resetting the contact detection repeatedly at high frequency using the bit may cause arGTO
major failure of the Gripper. This is not considered normal usage of the Gripper and it is not
recommended by Robotiq.