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Gripper Register Mapping
The Robotiq 2F gripper has internal memory that
is shared with the robot controller. One block of
memory is dedicated to robot outputs (i.e.
gripper actions). The other is dedicated to robot
inputs (i.e. gripper status). The robot controller
can then perform two types of actions:
1. Write robot output registers to activate
gripper functionalities
2. Read robot input registers to get the
status of the Gripper
For more information on the details and use of
each register, please review Chapter 4 of the
Robotiq 2-Finger Gripper Instruction Manual
Robotiq
Register
Byte 0 to 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Byte 9
Byte 10 to 23
Robotiq
Register
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6 to 19
Mapped Inputs (24 bytes)
YRC1000
YRC1000micro
Input Group #
Input Group #
5 to 8
7 to 10
9
11
10
12
11
13
12
14
13
15
14
16
15 to 28
17 to 30
Mapped Outputs (20 bytes)
YRC1000
YRC1000micro
Output Group #
Output Group #
5
7
6
8
7
9
8
10
9
11
10
12
11 to 24
13 to 26
Robot Input / Status
Header
Gripper Status
Reserved
Fault Status
Position Request Echo
Position
Current
Reserved
Robot Output /
Functionalities
Action Request
Reserved
Reserved
Position Request
Speed
Force
Reserved
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