Robotiq Hand-E Gripper Instruction Manual
Caution
The automatic release is meant to disengage the gripper after an emergency stop of the robot.
The automatic release is not intended to be used under normal operating conditions.
Automatic release requires the rACT to be cleared (rACT == 0) then set (rACT == 1).
rARD
Auto-release direction. When auto-releasing, rARD commands the direction of the movement. The rARD bit should be set prior to or at
the same time as the rATR bit, as the motion direction is set when the auto-release is initiated.
l 0x0 - Closing auto-release
l 0x1 - Opening auto-release
4.3.2. Register: GRIPPER OPTIONS
Address: Byte 1
Bits 7 6 5 4 3 2 1 0
Symbol Reserved
4.3.3. Register: GRIPPER OPTIONS 2
Address: Byte 2
Bits 7 6 5 4 3 2 1 0
Symbol Reserved
4.3.4. Register: POSITIONREQUEST
Address: Byte 3
Bits 7 6 5 4 3 2 1 0
Symbol rPR
This register is used to set the target position for the gripper's fingers. The positions 0x00 and 0xFF correspond respectively to the fully
opened and fully closed mechanical stops. For detailed finger trajectory, see the Specifications section.
l 0x00 - Open position, with 50 mm opening
l 0xFF - Closed
l Opening / count: ≈0.2 mm for 50 mm stroke
Info
The activation will allow the gripper to adjust to any fingers/fingertips. No matter what is the size and/or shape of the
fingers/fingertips, 0 will always be fully opened and 255 fully closed, with a quasi-linear relationship between the two values.
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