Robotiq 2-Finger Adaptive Gripper
Instruction Manual
Robotiq inc. © 2016
37
1.
2.
Control using registers:
The Gripper has an internal memory that is shared with the 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 can then be done by the robot controller :
Write in the
registers to activate
;
robot output
functionalities
Read in the
registers to get the
of the Gripper.
robot input
status
will map the different registers used to control the Gripper or to read its status while
will detail the output (write) register functions
will detail the input (read) register status. Figure 4.1.1 is a representation of the memory and the control logic of the Gripper.
Figure 4.1.1 : 2-Finger control logic overview
Control using
packages :
Universal Robots
Robotiq provide
packages to be used with either
(require controller CB3 or higher) or using subprograms (for controller CB2).
Universal Robots
URcaps
See
for instructions on how to use the
, this method will provide you with a
to
URcaps Gripper
program via the URcaps tabs.
See
, this method will provide you with a similar
but robot program will be done using
URcaps
and
.
