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Robotiq 2-Finger Adaptive Robot Gripper - 200
Instruction Manual
Robotiq inc. © 2008-2013
46
Register: SPEED
Address: Byte 4
Bit
Name
Description
0 – 7
rSP
Set closing/opening speed of the
Gripper.
0x00 (Minimum speed) to 0xFF
(Maximum speed)
This register is used to set the Gripper closing or opening speed in real time, however, setting a speed will not
initiate a motion.
Info
0x00 speed does not mean absolute zero speed. It is the minimum speed of the Gripper.
Minimum speed: 18 mm/s
Maximum speed: 114 mm/s
Speed / count : under evaluation
Register: FORCE
Address: Byte 5
Bit
Name
Description
0 – 7
rFR
Set Gripping Force
0x00 (Minimum force) to 0xFF
(Maximum force)
The force setting defines the final gripping force for the Gripper. The force will fix the maximum current sent to the
motor while in motion. If the current limit is exceeded, the fingers stop and trigger an object detection notification.
Info
Force setting is overridden for a short distance when the motion is initiated. Also, note that 0x00
force does not mean zero force; it is the minimum force that the Gripper can apply.
Minimum force: 150 N
Maximum force : 730 N
Force / count: under evaluation