ROBOTIQ HAND-E - Robot Input Registers and Status

Robotiq Hand-E Gripper Instruction Manual
4.3.5. Register: SPEED
Address: Byte 4
Bits 7 6 5 4 3 2 1 0
Symbol rSP
This register is used to set the gripper closing or opening speed in real time, however, setting a speed will not initiate a motion.
l 0x00 - Minimum speed
l 0xFF - Maximum speed
4.3.6. Register: FORCE
Address: Byte 5
Bits 7 6 5 4 3 2 1 0
Symbol rFR
The force setting defines the final gripping force for the gripper. The force will fix the maximum current sent to the motor . If the
current limit is exceeded, the fingers stop and trigger an object detection notification. Please refer to the Picking Features section
for details on force control.
l 0x00 - Minimum force
l 0xFF - Maximum force
Info
Register bytes 6 to 15 are reserved and should be set to 0.
4.4. Robot Input Registers andStatus
4.4.1. Register: GRIPPERSTATUS
Address: Byte 0
Bits 7 6 5 4 3 2 1 0
Symbols gOBJ gSTA gGTO Reserved gACT
gACT
Activation status, echo of the rACT bit (activation bit).
l 0x0 - Gripper reset.
l 0x1 - Gripper activation.
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