ROBOTIQ Hand-E C10 Instruction Manual page 44

4.3. Robot Output Registers & Functionalities
4.3.1. Register: ACTION REQUEST
Address: Byte 0
Symbols
rACT
First action to be made prior to any other actions; the rACT bit will activate the gripper. Clear the rACT bit to reset the gripper and
clear any fault status.
0x0 - Deactivate Gripper.
l
0x1 - Activate Gripper (must stay on after activation routine is completed).
l
WARNING
When setting rACT (rACT ==1), the gripper will begin movement to complete its activation feature.
INFO
Power loss will set rACT (rACT == 1); the rACT bit must then be cleared (rACT == 0), then set again to allow
operation of the gripper.
CAUTION
The rACT bit must stay on afterwards for any other action to be performed.
rGTO
The "Go To" action moves the gripper fingers to the requested position using the configuration defined by the other registers,
rGTO will engage motion while bytes 3, 4 and 5 will determine aimed position, force and speed. The only motions performed
without the rGTO bit are activation and automatic release routines.
0x0 - Stop.
l
0x1 - Go to requested position.
l
rATR
Automatic Release routine action slowly opens the gripper fingers until all motion axes reach their mechanical limits. After all
motions are completed, the gripper sends a fault signal and needs to be reinitialized before any other motion is performed. The
rATR bit overrides all other commands excluding the activation bit (rACT).
Bits 7 6
Reserved
5 4 3
rARD rATR rGTO
Robotiq Hand-E C10 Gripper Instruction Manual
2 1 0
Reserved rACT
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