ROBOTIQ HAND-E - 4.3. Robot Output Registers & Functionalities

Robotiq Hand-E Gripper Instruction Manual
4.3. Robot Output Registers &Functionalities
4.3.1. Register: ACTIONREQUEST
Address: Byte 0
Bits 7 6 5 4 3 2 1 0
Symbols Reserved rARD rATR rGTO Reserved rACT
rACT
First action to be made prior to any other actions; the rACT bit will activate the gripper. Clear the rACT bit to reset the gripper and clear
any fault status.
l 0x0 - Deactivate Gripper.
l 0x1 - Activate Gripper (must stay on after activation routine is completed).
Warning
When setting rACT (rACT ==1), the gripper will begin movement to complete its activation feature.
Info
Power loss will set rACT (rACT == 1); the rACTbit must then be cleared (rACT == 0), then set again to allow operation of the
gripper.
Caution
The rACT bit must stay on afterwards for any other action to be performed.
rGTO
The "Go To" action moves the gripper fingers to the requested position using the configuration defined by the other registers, rGTO
will engage motion while bytes 3, 4 and 5 will determine aimed position, force and speed. The only motions performed without the
rGTO bit are activation and automatic release routines.
l 0x0 - Stop.
l 0x1 - Go to requested position.
rATR
Automatic Release routine action slowly opens the gripper fingers until all motion axes reach their mechanical limits. After all motions
are completed, the gripper sends a fault signal and needs to be reinitialized before any other motion is performed. The rATR bit
overrides all other commands excluding the activation bit (rACT).
l 0x0 - Normal.
l 0x1 - Emergency auto-release.
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