ROBOTIQ Hand-E C10 - Page 3

Robotiq Hand-E C10 Gripper Instruction Manual
4.3. Robot Output Registers &Functionalities 44
4.3.1. Register: ACTIONREQUEST 44
4.3.2. Register: GRIPPER OPTIONS 45
4.3.3. Register: GRIPPER OPTIONS 2 45
4.3.4. Register: POSITIONREQUEST 45
4.3.5. Register: SPEED 46
4.3.6. Register: FORCE 46
4.4. Robot Input Registers andStatus 46
4.4.1. Register: GRIPPERSTATUS 46
4.4.2. Register: RESERVED 48
4.4.3. Register: FAULTSTATUS 48
4.4.4. Register: POSITIONREQUESTECHO 49
4.4.5. Register: POSITION 49
4.4.6. Register: CURRENT 49
4.5. Picking Features 50
4.5.1. Force control 50
4.5.2. Re-Grasp 50
4.5.3. Object detection 51
4.5.4. Brake engagement 52
4.6. Control Logic Example 52
4.7. Modbus RTUCommunication 52
4.7.1. Connection Setup 53
4.7.2. Read input registers (FC04) 54
4.7.3. Preset multiple registers (FC16) 55
4.7.4. Master read and write multiple registers FC23 55
4.7.5. Modbus RTU example 57
4.8. Hand-E C10 Gripper and I/O Coupling communication 65
4.9. Control over Universal Robots 66
4.9.1. Control with the Standard Coupling Kit 66
4.9.2. Control with the Wrist Connection Kit (I/O Coupling) 66
4.9.3. Gripper Dashboard 70
4.9.4. Limiting your Gripper Force and Speed 74
4.9.5. Visual Cues of Force and Speed Limitation 75
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