ROBOTIQ HAND-E - Robot Input Registers & Status

Robotiq Hand-E Gripper - Instruction Manual
4.4. Robot Input Registers &Status
Register: GRIPPERSTATUS
Address: Byte 0
Bits 7 6
5 4
3 2 1 0
Symbols gOBJ gSTA
gGT
O
Reserved
gAC
T
gACT
Activation status, echo of the rACT bit (activation bit).
l 0x0 - Gripper reset.
l 0x1 - Gripper activation.
gGTO
Action status, echo of the rGTO bit (go to bit).
l 0x0 - Stopped (or performing activation / automatic release).
l 0x1 - Go to Position Request.
gSTA
Gripper status, returns the current status and motion of the Gripper fingers.
l 0x00 - Gripper is in reset (or automatic release) state. See Fault Status if Gripper is activated.
l 0x01 - Activation in progress.
l 0x02 - Not used.
l 0x03 - Activation is completed.
gOBJ
Object detection status, is a built-in feature that provides information on possible object pick-up. Ignore if gGTO == 0.
l 0x00 - Fingers are in motion towards requested position. No object detected.
l 0x01 - Fingers have stopped due to a contact while opening before requested position. Object detected opening.
l 0x02 - Fingers have stopped due to a contact while closing before requested position. Object detected closing.
l 0x03 - Fingers are at requested position. No object detected or object has been loss / dropped.
Caution
In some circumstances the object detection feature may not detect an object even if it is successfully grasped. For instance,
picking up a thin object may be successful without the object detection status being triggered. In such applications, the
"Fingers are at requested position" status of register gOBJ is sufficient to proceed to the next step of the routine.
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