ROBOTIQ HAND-E - Page 37

Robotiq Hand-E Gripper - Instruction Manual
kFLT
please refer to your optional controller manual (input registers and status).
Register: POSITIONREQUESTECHO
Address: Byte 3
Bits 7 6 5 4 3 2 1 0
Symbol gPR
gPR
Echo of the requested position for the Gripper, value between 0x00 and 0xFF.
l 0x00 - Full opening.
l 0xFF - Full closing.
Register: POSITION
Address: Byte 4
Bits 7 6 5 4 3 2 1 0
Symbol gPO
gPO
Actual position of the Gripper obtained via the encoders, value between 0x00 and 0xFF.
l 0x00 - Fully opened.
l 0xFF - Fully closed.
Register: CURRENT
Adress: Byte 5
Bits 7 6 5 4 3 2 1 0
Symbol gCU
gCU
The current is read instantaneously from the motor drive, value between 0x00 and 0xFF, approximate current equivalent is 10 * value
read inmA.
Tip
Built-in features like object detection and force control use the fingers' electrical current readings. The user does not need to
create these features.
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