3-Finger Adaptive Robot Gripper Instruction Manual
This register is used to set the Finger C target position. It is only applied if the Individual Control of Finger option is selected (bit
rICF
is set). Please refer
to
rPRA
(position request) register for more information.
Register:
FINGER C SPEED
Address:
Byte 10
Bits
7
6
5
4
3
2
1
0
Symbols
rSPC
This register is used to set Finger C speed. It is only applied if the Individual Control of Finger option is selected (bit
rICF
is set). Please refer to
rSPA
(speed) register for more information.
Register:
FINGER C FORCE
Address:
Byte 11
Bits
7
6
5
4
3
2
1
0
Symbols
rFRC
This register is used to set Finger C force. It is only applied if the Individual Control of Finger option is selected (bit
rICF
is set). Please refer to
rFRA
(force) register for more information.
Register:
SCISSOR POSITION REQUEST
Address:
Byte 12
Bits
7
6
5
4
3
2
1
0
Symbols
rPRS
This register is used to set the scissor axis target position. It is only applied if the Individual Control of Scissor option is selected (bit
rICS
is set). Please
refer to
rPRA
(position request) register for more information.
Register:
SCISSOR SPEED
Address:
Byte 13
Bits
7
6
5
4
3
2
1
0
Symbols
rSPS
This register is used to set the scissor axis speed. It is only applied if the Individual Control of Scissor option is selected (bit
rICS
is set). Please refer to
rSPA
(speed) register for more information.
Register:
SCISSOR FORCE
Address:
Byte 14
Bits
7
6
5
4
3
2
1
0
Symbols
rFRS
This register is used to set the scissor axis force. It is only applied if the Individual Control of Scissor option is selected (bit
rICS
is set). Please refer to
rFRA
(force) register for more information.
4.5 Robot input registers & status
Register:
GRIPPER STATUS
Address:
Byte 0
Bits
7
6
5
4
3
2
1
0
Symbols
gSTA
gIMC
gGTO
gMOD
gACT
gACT
: Initialization status, echo of the rACT bit (activation bit).
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