ROBOTIQ Gripper - Page 55

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual
Robotiq inc. © 2008 - 2014 55
Register: FINGER B POSITION REQUEST ECHO
Address: Byte 6
Bits 7 6 5 4 3 2 1 0
Symbol
gPRB
gPRB : Echo of the requested position of Finger B (rPRB), 0x00 is the minimum position (fully open) and 0xFF is the
maximum position (fully closed).
Register: FINGER B POSITION
Address: Byte 7
Bits 7 6 5 4 3 2 1 0
Symbol
gPOB
gPOB : Returns the actual position of the Gripper Finger B, 0x00 is the minimum position (fully open) and 0xFF is
the maximum position (fully closed).
Register: FINGER B CURRENT
Address: Byte 8
Bits 7 6 5 4 3 2 1 0
Symbol
gCUB
gCUB : Returns a value that represents the Finger B with instantaneous current consumption from 0x00 to 0xFF.
Register: FINGER C POSITION REQUEST ECHO
Address: Byte 9
Bits 7 6 5 4 3 2 1 0
Symbol
gPRC
gPRC : Echo of the requested position of Finger C (rPRC), 0x00 is the minimum position (fully open) and 0xFF is
the maximum position (fully closed).
Register: FINGER C POSITION
Address: Byte 10
Bits 7 6 5 4 3 2 1 0
Symbol
gPOC
gPOC : Returns the actual position of the Gripper Finger C, 0x00 is the minimum position (fully open) and 0xFF is
the maximum position (fully closed).
Register: FINGER C CURRENT
Address: Byte 11