Robotiq Hand-E Gripper Instruction Manual
Info
While your initial settings for force and speed are not used for Re-grasp, they will never be exceeded to prevent damaging
the part.
Caution
The rOBJ status is cleared when a motion is detected.
4.5.3. Object detection
When the gripper grabs an object, the gOBJ status will allow you to know if contact with the object was successful. This is a built-in
feature for adaptive grippers meant to be used by the robot controller (or PLC) commanding the overall application. The Object
detection feature will change the gOBJ status and can be used inside your robot program.
As stated in the previous section:
gOBJ: Only valid if gGTO = 1.
l 0x00 - Fingers are in motion towards requested position. No object detected.
l 0x01 - Fingers have stopped due to a contact while opening before requested position. Object detected.
l 0x02 - Fingers have stopped due to a contact while closing before requested position. Object detected.
l 0x03 - Fingers are at requested position. No object detected or object has been lost / dropped.
Example of contact detected with an object:
1. Set position, speed and force at maximum (full closing):
a. rPR == 0xFF, rSP == 0xFF, rFR ==0xFF,
2. Set ''go to requested'' will initiate movement :
a. rGTO == 0x01
3. Then object detection status will be "in motion"
a. gOBJ == 0x00
4. Until an object is picked, object detection status will then be "stopped due to contact while closing"
a. gOBJ == 0x02
5. The user can now assume it is holding the payload, and proceed to the next step.
Example of contact lost with an object:
1. From the previous example, after an object is picked
a. gOBJ == 0x02
2. If the gOBJ status displays 0x03 after it was 0x02, user can assume contact with the object has been lost.
4.5.4. Brake engagement
Hand-E is equipped with a brake that engages at the end of every gripper move, and disengages between moves. For instance, when
fully closing on an object, the gripper touches the object, activates the brake, and sends the object detection signal to the robot.
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