ROBOTIQ HAND-E - Activating a Gripper Connected to the Robot Wrist on a e-Series Robot

Robotiq Hand-E Gripper - Instruction Manual
4.5. Picking Features
As stated in previous sections, object picking is done via a simple "Go To" command, rGTO bit calls for movement, while rPR byte is
the aimed position, rSP and rFR will be the desired speed and force settings respectively. This section describes key features in object
picking applications:
l Force control
l Re-grasp
l Object detection
l Object contact loss
4.5.1. Force control
The gripping force is controlled via the rFR byte (please refer to the Robot Output Registers &Functionalities section).The Gripper
behavior will change according to the rFR forcerequested.
l rFR = 0 : Very fragile objects or deformable objects mode
l Lowest force
l Re-grasp feature is off
l 1 rFR 255 : Solid & firm objects
l High torque mode
l Re-grasp feature is on
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