ROBOTIQ Gripper - Page 56

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual
Robotiq inc. © 2008 - 2014 56
Bits 7 6 5 4 3 2 1 0
Symbol
gCUC
: Returns a value that represents the Finger C with instantaneous current consumption from 0x00 to 0xFF.gCUC
Register: SCISSOR POSITION REQUEST ECHO
Address: Byte 12
Bits 7 6 5 4 3 2 1 0
Symbol
gPRS
gPRS : Echo of the requested position of the scissor action (rPRS), 0x00 is the minimum position (fully open) and
0xFF is the maximum position (fully closed).
Register: SCISSOR POSITION
Address: Byte 13
Bits 7 6 5 4 3 2 1 0
Symbol
gPOS
gPOS : Returns the actual position of the Gripper scissor action, 0x00 is the minimum position (fully open) and 0xFF
is the maximum position (fully closed).
Register: SCISSOR CURRENT
Address: Byte 14
Bits 7 6 5 4 3 2 1 0
Symbol
gCUS
gCUS : Returns a value that represents the scissor action with instantaneous current consumption from 0x00 to
0xFF.