3-Finger Adaptive Robot Gripper Instruction Manual
When a contact is detected, the corresponding axis will stop unless one of these conditions is met: a new position command is requested in the opposite
direction, the requested force level is increased or the rGTO bit is cleared and set again.
Warning
Resetting the contact detection repeatedly at high frequency using the rGTO bit may cause a major failure of the Gripper. This is not considered
normal usage of the Gripper and it is not recommended by Robotiq.
Caution
The object detection is precise only to the order of a few mm. In some circumstances object detection may not detect an object even if it is
successfully grasped. For example, picking up a thin object in a Fingertip Grip may be successful without object detection occurring. For this
reason, use this feature with caution. In these applications the "Gripper is stopped" status of register
gSTA
is sufficient to proceed to the next
step of the routine.
Register:
FAULT STATUS
Address:
Byte 2
Bits
7
6
5
4
3
2
1
0
Symbols
Reserved (zeros)
gFLT
gFLT
: Fault status returns general error messages useful for troubleshooting.
l
0x00 - No fault (fault LED off)
l
Priority faults (fault LED off)
l
0x05 - Action delayed, activation (reactivation) must be completed prior to renewed action.
l
0x06 - Action delayed, mode change must be completed prior to continuing action.
l
0x07 - The activation bit must be set prior to action.
l
Minor faults (fault LED continuous red)
l
0x09 - The communication chip is not ready (may be booting).
l
0x0A - Changing mode fault, interference detected on Scissor (for less than 20 sec).
l
0x0B - Automatic release in progress.
l
Major faults (fault LED blinking red) - Reset is required.
l
0x0D - Activation fault, verify that no interference or other error occurred.
l
0x0E - Changing mode fault, interference detected on Scissor (for more than 20 sec).
l
0x0F - Automatic release completed. Reset and activation is required.
Caution
All major faults will require you to reset the Gripper (rACT bit == 0 then rACT bit == 1) which will initiate motion from the Gripper for the re-
calibration procedure before recovering normal control of the Gripper. Beware of possible hazards caused by the Gripper motion.
Register:
POSITION REQUEST ECHO (FINGER A IN INDIVIDUAL MODE)
Address:
Byte 3
Bits
7
6
5
4
3
2
1
0
Symbols
gPRA
gPRA
: Echo of the requested position of the Gripper (rPRA), 0x00 is the minimum position (fully open) and 0xFF is the maximum position (fully closed).
If commanding the Gripper in individual control mode, gPRA is the echo of Finger A, otherwise it is the general position requested to all fingers.
Register:
FINGER A POSITION)
Address:
Byte 4
Bits
7
6
5
4
3
2
1
0
Symbols
gPOA
gPOA
: Returns the actual position of the Gripper Finger A, 0x00 is the minimum position (fully open) and 0xFF is the maximum position (fully closed).
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