Robotiq 2-Finger Adaptive Robot Gripper - 200
Instruction Manual
Robotiq inc. © 2008-2013
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4.2 Status overview
The 2-Finger Adaptive Robot Gripper – 200 returns several registers of information to the robot controller:
Global Gripper Status - A global Gripper status is available. This gives information such as if the Gripper is
closed or open.
Object Status - There is also an object status that lets you know if there is an object in the Gripper.
Fault Status - The fault status gives additional details about the cause of a fault or warnings about the
current controller status.
Position Request Echo - The Gripper returns the position requested by the robot to make sure that the new
command has been received correctly.
Motor Position Status - The information of the motor position is also available.
Current Status - The current of the motor can also be known. The force applied at the actuation linkage of
the finger can be known from the current, since the torque of the motor is a linear function of the current.