ROBOTIQ 3-Finger Adaptive Robot Gripper Instruction Manual page 35

Caution
rACT bit must remain on afterwards for any other action to be performed.
rMOD: Changes the Gripper Grasping Mode. When the Grasping Mode is changed, the Gripper first opens completely to avoid interference between
the fingers, then goes to the selected mode. This option is ignored if the bit rICS is set (individual control of the scissor motion option).
0x0 – Go to Basic Mode.
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0x1 – Go to Pinch Mode.
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0x2 – Go to Wide Mode.
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0x3 – Go to Scissor Mode.
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rGTO: The "Go To" action moves the Gripper fingers to the requested position using the configuration defined by the other registers and the rMOD bits.
The only motions performed without the rGTO bit are: activation, the mode change and automatic release routines.
0x0 - Stop.
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0x1 - Go to requested position.
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rATR: Automatic Release routine action slowly opens the Gripper fingers until all motion axes reach their mechanical limits. After all motion is
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).
0x0 - Normal.
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0x1 - Emergency auto-release.
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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.
Register: GRIPPER OPTION 1
Address: Byte 1
rICF: In Individual Control of Fingers Mode each finger receives its own command (position request, speed and force) unless the Gripper is in the
Scissor Grasping Mode and the Independent Control of Scissor (rICS) is not activated. Please refer to the rPRA (Position Request) register description
for information about the reachable positions of the fingers.
0x0 - Normal.
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0x1 - Enable Individual Control of Fingers A, B and C.
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Caution
As soon as the rICF bit is set, the fingers will move towards the target defined by the position request bytes. To avoid unwanted motion of the
fingers, it is preferable to define the position requests before setting the rICF bit. It is also possible to clear the rGTO bit, configure the registers
according to the desired motion and then set the rGTO bit to start the motion.
Bits 7
Symbols
rICS: In Individual Control of Scissor, the scissor axis moves independently from the Grasping Mode. When this option is selected, the rMOD bits
(Grasping Mode) are ignored as the scissor axis position is defined by the rPRS (Position Request for the Scissor axis) register which takes priority.
0x0 - Normal.
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0x1 - Enable Individual Control of Scissor. Disable Mode Selection.
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Info
To avoid geometric interference between Fingers B and C, the reachable positions for the scissor axis is reduced if the Individual Control of
Scissor option is selected. Please refer to the rPRA (Position Request) register description for more information about the reachable positions of
the scissor axis.
Register: GRIPPER OPTION 2
Address: Byte 2
Bits 7
Symbols
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6 5 4
Reserved
6 5
3-Finger Adaptive Robot Gripper Instruction Manual
3 2
rICS rICF
4 3
Reserved
1
Reserved
2 1
0
0
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