Robot Output Registers & Functionalities - ROBOTIQ 2-Finger Adaptive Robot Gripper - 200 Instruction Manual

Robotiq 2-Finger Adaptive Robot Gripper - 200
4.6 Robot output registers & functionalities
Info
Register format is Little Endian (Intel format), namely from LSB (Less Significant Bit) to MSB
(Most Significant Bit).
Register: ACTION REQUEST
Address: Byte 0
Bit
0
1
2
3
4
5
6 - 7
rACT : First action to be made prior to any other actions,
Gripper and fault status.
Caution
rACT bit must stay on afterwards for any other action to be performed.
rGTO : The "Go To" action moves the Gripper's fingers to the requested position using the configuration defined by
the other registers. The only motions performed without the
routines.
rATR : Automatic release routine action slowly opens the Gripper's fingers until all motion axes reach their
mechanical limits. After the motion is completed, the Gripper sends a fault signal and needs to be reinitialized before
any other motion is performed. The
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.
rARD : Auto-release direction, when auto-releasing
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Name
rACT
rRS1
rRS2
rGTO
rATR
rARD
rRS3,rRS4
rACT
rGTO
rATR bit overrides all other commands excluding the activation bit (
rARD shows the direction of the movement, 0 if the Gripper is
0 – Reset Gripper
1 – Activate Gripper ( Must stay on
after activation routine is completed
)
RESERVED
RESERVED
0 – Stop
1 – Go to Requested Position
0 – Normal
1 – Automatic release
0 – Opening
1 – Closing
RESERVED
bit will initialize the Gripper. Clear
bit are the activation and the automatic release
Instruction Manual
Description
rACT to reset
rACT ).
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