ROBOTIQ HAND-E - 4.5. Picking Features

Robotiq Hand-E Gripper Instruction Manual
4.5. Picking Features
As stated in previous sections, object picking is done via a simple "Go To" command, rGTO bit calls for movement, while rPR byte is
the aimed position, rSP and rFR will be the desired speed and force settings respectively. This section describes key features in object
picking applications:
l Force control
l Re-grasp
l Object detection
l Object contact loss
4.5.1. Force control
The gripping force is controlled via the rFR byte (please refer to the Robot Output Registers &Functionalities section).The gripper
behavior will change according to the rFR forcerequested.
l rFR = 0 : Very fragile objects
l Lowest force
l Re-grasp feature is off
l 1 rFR 255 : Fragile to robust objects
l Re-grasp feature is on
4.5.2. Re-Grasp
Re-grasp feature is a built-in feature meant to prevent object lost due to slipping or inaccurate initial grip. The Re-grasp feature allows
the gripper to initiate movement when an object is slipping or dropped. When Re-grasping, the gripper will attempt to close until it
reaches the position request (rPR).
l This feature is automatically set according to the force request rFR.
Info
Feature is off at force request rFR = 0, otherwise it is on.
l Re-grasp will keep the position setting:
l Finger motion will stop when rPR position is reached, even if there is no object.
l Force and speed settings are not used, Re-grasp force and speed will automatically adjust to keep the object from being lost /
dropped.
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