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Register: POSITION REQUEST ECHO (FINGER A IN INDIVIDUAL MODE)
Address: Byte 3
Bits 7 6 5 4 3 2 1 0
Symbol
gPRA
gPRA : Echo of the requested position of the Gripper (rPRA), 0x00 is the minimum position (fully open) and 0xFF is
the maximum position (fully closed). If commanding the Gripper in individual control mode, gPRA is the echo of
Finger A, otherwise it is the general position requested to all fingers.
Register: FINGER A POSITION
Address: Byte 4
Bits 7 6 5 4 3 2 1 0
Symbol
gPOA
gPOA : Returns the actual position of the Gripper Finger A, 0x00 is the minimum position (fully open) and 0xFF is
the maximum position (fully closed).
Register: FINGER A CURRENT
Address: Byte 5
Bits 7 6 5 4 3 2 1 0
Symbol
gCUA
gCUA : Returns a value that represents the Finger A with instantaneous current consumption from 0x00 to 0xFF.
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