ROBOTIQ 3-Finger Adaptive Robot Gripper Instruction Manual page 41

Register: FINGER A CURRENT)
Address: Byte 5
Bits 7
Symbols
gCUA: Returns a value that represents the Finger A with instantaneous current consumption from 0x00 to 0xFF.
Info
Current consumption is approximately equal to 0.1 * gCUA (in mA).
Register: FINGER B POSITION REQUEST ECHO
Address: Byte 6
Bits 7
Symbols
gPRB: Echo of the requested position of Finger B (rPRB), 0x00 is the minimum position (fully open) and 0xFF is the maximum position (fully closed).
Register: FINGER B POSITION
Address: Byte 7
Bits 7
Symbols
gPOB: Returns the actual position of the Gripper Finger B, 0x00 is the minimum position (fully open) and 0xFF is the maximum position (fully closed).
Register: FINGER B CURRENT
Address: Byte 8
Bits 7
Symbols
gCUB: Returns a value that represents the Finger B with instantaneous current consumption from 0x00 to 0xFF.
Register: FINGER C POSITION REQUEST ECHO
Address: Byte 9
Bits 7
Symbols
gPRC: Echo of the requested position of Finger C (rPRC), 0x00 is the minimum position (fully open) and 0xFF is the maximum position (fully closed).
Register: FINGER C POSITION
Address: Byte 10
Bits 7
Symbols
gPOC: Returns the actual position of the Gripper Finger C, 0x00 is the minimum position (fully open) and 0xFF is the maximum position (fully closed).
Register: FINGER C CURRENT
Address: Byte 11
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6 5
6 5
6 5
6 5
6 5
6 5
3-Finger Adaptive Robot Gripper Instruction Manual
4 3
gCUA
4 3
gPRB
4 3
gPOB
4 3
gCUB
4 3
gPRC
4 3
gPOC
2 1
2 1
2 1
2 1
2 1
2 1
0
0
0
0
0
0
41