Object Detection - ROBOTIQ Hand-E C10 Instruction Manual

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INFO
Feature is off at force request rFR = 0, otherwise it is on.
Re-grasp will keep the position setting:
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Finger motion will stop when rPR position is reached, even if there is no object.
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Force and speed settings are not used, Re-grasp force and speed will automatically adjust to keep the object from being lost /
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dropped.
INFO
While your initial settings for force and speed are not used for Re-grasp, they will never be exceeded to
prevent damaging the part.
CAUTION
The rOBJ status is cleared when a motion is detected.

4.5.3. Object detection

When the gripper grabs an object, the gOBJ status will allow you to know if contact with the object was successful. This is a built-in
feature for adaptive grippers meant to be used by the robot controller (or PLC) commanding the overall application. The Object
detection feature will change the gOBJ status and can be used inside your robot program.
As stated in the previous section:
gOBJ: Only valid if gGTO = 1.
0x00 - Fingers are in motion towards requested position. No object detected.
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0x01 - Fingers have stopped due to a contact while opening before requested position. Object detected.
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0x02 - Fingers have stopped due to a contact while closing before requested position. Object detected.
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0x03 - Fingers are at requested position. No object detected or object has been lost / dropped.
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Example of contact detected with an object:
1. Set position, speed and force at maximum (full closing):
a. rPR == 0xFF, rSP == 0xFF, rFR ==0xFF,
2. Set ''go to requested'' will initiate movement :
a. rGTO == 0x01
3. Then object detection status will be "in motion"
a. gOBJ == 0x00
4. Until an object is picked, object detection status will then be "stopped due to contact while closing"
a. gOBJ == 0x02
Robotiq Hand-E C10 Gripper Instruction Manual