ROBOTIQ 2-Finger Adaptive Robot Gripper - 200 Instruction Manual page 46

Robotiq 2-Finger Adaptive Robot Gripper - 200
Register: SPEED
Address: Byte 4
Bit
0 – 7
This register is used to set the Gripper closing or opening speed in real time, however, setting a speed will not
initiate a motion.
Info
0x00 speed does not mean absolute zero speed. It is the minimum speed of the Gripper.
Minimum speed: 18 mm/s
Maximum speed: 114 mm/s
Speed / count : under evaluation
Register: FORCE
Address: Byte 5
Bit
0 – 7
The force setting defines the final gripping force for the Gripper. The force will fix the maximum current sent to the
motor while in motion. If the current limit is exceeded, the fingers stop and trigger an object detection notification.
Info
Force setting is overridden for a short distance when the motion is initiated. Also, note that 0x00
force does not mean zero force; it is the minimum force that the Gripper can apply.
Minimum force: 150 N
Maximum force : 730 N
Force / count: under evaluation
Robotiq inc. © 2008-2013
Name
rSP Set closing/opening speed of the
Gripper.
0x00 (Minimum speed) to 0xFF
(Maximum speed)
Name
rFR Set Gripping Force
0x00 (Minimum force) to 0xFF
(Maximum force)
Instruction Manual
Description
Description
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