ROBOTIQ Hand-E C10 Instruction Manual page 42

4. Control
INFO
Unless specified, all values in this section are hexadecimal values.
4.1. Overview
The Robotiq Hand-E C10 Gripper is controlled directly via Modbus RTU using a RS485 signal.
TIP
To test various gripper features such as object detection and force control, use the Robotiq User Interface.
To download it, go to
robot brand] > Software > Robotiq User Interface > DOWNLOAD ZIP.
The Robotiq Hand-E C10 Gripper has its own embedded controller. Use high-level commands such as Go to requested position to
control it.
INFO
The operator can control force, speed, and position of gripper fingers.
Finger movement is always synchronized.
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Finger movement is initiated via a single "Go to requested position" command.
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Object detection is built-in. Operator is notified after an object is picked once the "Go to" command has
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been initiated. The feature also works for lost or dropped objects, and the user can be alerted if an object
is dropped after being detected.
In case of emergency, auto-release is engaged (open or close).
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Control using registers
Grippers share their internal memory with a robot controller. One part of the memory is for the robot output: gripper
functionalities. The other part of the memory is for the robot input: gripper status. Two types of actions are then available to a
robot controller:
1. Write in the robot output registers to activate functionalities;
2. Read in the robot input registers to get the status of the gripper.
The Gripper Register Mapping section maps the registers used to control the gripper or to read its status.
The Robot Output Registers & Functionalities section details the output (write) register functions.
The Robot Input Registers and Status section details the input (read) register status.
Refer to the Control Logic Example section for details.
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Robotiq Hand-E C10 Gripper Instruction Manual
42