ROBOTIQ HAND-E - 3.7. Installation for Universal Robots

Robotiq Hand-E Gripper Instruction Manual
4.2. Gripper Register Mapping
Caution
Byte numbering starts at zero and not at 1 for the functionalities and status registers.
Register Robot Output / Functionalities Robot Input / Status
Byte 0 ACTIONREQUEST GRIPPERSTATUS
Byte 1 RESERVED RESERVED
Byte 2 RESERVED FAULTSTATUS
Byte 3 POSITIONREQUEST POSREQUESTECHO
Byte 4 SPEED POSITION
Byte 5 FORCE CURRENT
Byte 6 to 15 RESERVED RESERVED
Table 4-1: Registers of the Hand-E Gripper.
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