Robotiq 2-Finger Adaptive Robot Gripper - 200
Instruction Manual
Robotiq inc. © 2008-2013
37
1.
2.
4.3 Control overview
The Gripper Controller has an internal memory that is shared with the robot controller. One part of the memory is for
the robot output,
. The other part of the memory is for the robot input,
(see
Gripper functionalities
Gripper status
Figure 4.3.1). 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
Info
The Gripper must be initialized (activation bit) whenever the power is turned on. This procedure
takes a few seconds and allows the Gripper to be calibrated against internal mechanical stops.
Figure 4.3.1 : Gripper memory shared with the robot controller.