ROBOTIQ Gripper - Page 74

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual
Robotiq inc. © 2008 - 2014 74
F9FF Content of register 0x07D0 (GRIPPER STATUS =
0xF9, OBJECT STATUS = 0xFF): gSTA = 3 for
"Gripper is stopped. All fingers reached requested
position"
0000 Content of register 0x07D1 (FAULT STATUS = 0x00,
POSITION REQUEST ECHO = 0x00): the position
request echo tells that the command was well received
and that the GRIPPER STATUS is valid.
0700 Content of register 0x07D2 (FINGER A POSITION =
0x07, FINGER A CURRENT = 0x00): the position of
finger A is 7/255 and the motor current is 0mA
0006 Content of register 0x07D3 (FINGER B POSITION
REQUEST ECHO = 0x00, FINGER B POSITION =
0x06)
0000 Content of register 0x07D4 (FINGER B CURRENT =
0x00, FINGER C POSITION REQUEST ECHO = 0x00)
0600 Content of register 0x07D5 (FINGER C POSITION =
0x06, FINGER C CURRENT = 0x00)
0089 Content of register 0x07D6 (SCISSOR POSITION
REQUEST ECHO = 0x00, SCISSOR POSITION =
0x89)
0000 Content of register 0x07D7 (SCISSOR CURRENT =
0x00)
348D Cyclic Redundancy Check (CRC)
Step 9: Loop back to step 3 if other objects have to be gripped.