ROBOTIQ HAND-E - Hand-E Gripper and I;O Coupling Communication

Robotiq Hand-E Gripper Instruction Manual
4.8. Hand-E Gripper and I/O Coupling communication
The following communication parameters must be present:
l Baud rate: 115200 bps
l Parity: None
l Data: 8 bit
l Stop bit: 1 bit
l Slave ID: 1 to 9
Activation sequence
In order to activate the sequence:
l Wait at least 10 ms between steps
l The whole sequence can not exceed 5 seconds
l The gripper must be connected to the I/O Coupling. The I/O Coupling detection of the gripper has to be confirmed (led blue)
before doing the sequence, otherwise it will not be valid.
l Doing the sequence once the I/O coupling is activated will reactivate the I/O Coupling.
l Activating the I/O Coupling triggers the activation sequence of the gripper.
l Activation of the I/O Coupling must be done each time you connect a new device or when a power cycle is done so you can use
the connected device, otherwise it will do nothing.
Steps (> 10 ms between) Digital Input 0 Digital Input 1
1 Low Low
2 High -
3 Low -
4 - High
5 - Low
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