Robotiq 2-Finger Adaptive Robot Gripper - 200
Instruction Manual
Robotiq inc. © 2008-2013
44
4.6 Robot output registers & functionalities
Info
Register format is Little Endian (Intel format), namely from LSB (Less Significant Bit) to MSB
(Most Significant Bit).
Register: ACTION REQUEST
Address: Byte 0
Bit
Name
Description
0
rACT
0 – Reset Gripper
1 – Activate Gripper ( Must stay on
after activation routine is completed
)
1
rRS1
RESERVED
2
rRS2
RESERVED
3
rGTO
0 – Stop
1 – Go to Requested Position
4
rATR
0 – Normal
1 – Automatic release
5
rARD
0 – Opening
1 – Closing
6 - 7
rRS3,rRS4
RESERVED
rACT : First action to be made prior to any other actions,
bit will initialize the Gripper. Clear
to reset
rACT
rACT
Gripper and fault status.
Caution
rACT bit must stay on afterwards for any other action to be performed.
rGTO : The "Go To" action moves the Gripper's fingers to the requested position using the configuration defined by
the other registers. The only motions performed without the
bit are the activation and the automatic release
rGTO
routines.
: Automatic release routine action slowly opens the Gripper's fingers until all motion axes reach their
rATR
mechanical limits. After the motion is completed, the Gripper sends a fault signal and needs to be reinitialized before
any other motion is performed. The
bit overrides all other commands excluding the activation bit (
).
rATR
rACT
Caution
The automatic release is meant to disengage the Gripper after an emergency stop of the robot.
The automatic release is not intended to be used under normal operating conditions.
rARD : Auto-release direction, when auto-releasing
shows the direction of the movement, 0 if the Gripper is
rARD