ROBOTIQ EPick Original Notice page 45

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rACT (Activate)
The rACT bit allows the Gripper to be operational.
0b0 - Clear Gripper fault status.
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0b1 - Gripper is operational. Must stay 0x01 at all time during normal operation of the gripper.
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rMOD Gripper mode
The rMOD bits are used to select the gripping mode.
0b00 - Automatic mode. The gripper will automatically detect the proper vacuum level, timeout/delay and hysteresis.
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0b01 - Advanced mode. The user can set the desired minimum and maximum vacuum level and the time-out.
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0b10 - Reserved
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0b11 - Reserved
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rGTO (Regulate)
The rGTO bit allow gripper to follow the desired vacuum parameters.
0b0 - Stop the vacuum generator; valves are in position to hold the workpiece.
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0b1 - Follow the requested vacuum parameters in real time. When timeout is reached, rGTO must be re-asserted (Set to 0b0
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then to 0b1)
rATR (Automatic release)
The rATR bit is used to release the object to ambient pressure (if possible) without any timeout. The rATR bit overrides all other
commands excluding the activation bit (rACT). rACT must be at 0b1 during this action.
0b0 - Normal operation
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0b1 - Open the valves without any timeout. After an automatic release, rACT must be re-asserted (rACT=0b0 then rACT=0b1).
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Register: RESERVED
Address: Byte 1
Bits
Symbols
Register: RESERVED
Address: Byte 2
Bits
Symbols
7 6
7 6
5 4
Reserved
5 4
Reserved
3 2
3 2
1 0
1 0