3-Finger Adaptive Robot Gripper Instruction Manual
Register:
FINGER A CURRENT)
Address:
Byte 5
Bits
7
6
5
4
3
2
1
0
Symbols
gCUA
gCUA
: Returns a value that represents the Finger A with instantaneous current consumption from 0x00 to 0xFF.
Info
Current consumption is approximately equal to 0.1 * gCUA (in mA).
Register:
FINGER B POSITION REQUEST ECHO
Address:
Byte 6
Bits
7
6
5
4
3
2
1
0
Symbols
gPRB
gPRB
: Echo of the requested position of Finger B (rPRB), 0x00 is the minimum position (fully open) and 0xFF is the maximum position (fully closed).
Register:
FINGER B POSITION
Address:
Byte 7
Bits
7
6
5
4
3
2
1
0
Symbols
gPOB
gPOB
: Returns the actual position of the Gripper Finger B, 0x00 is the minimum position (fully open) and 0xFF is the maximum position (fully closed).
Register:
FINGER B CURRENT
Address:
Byte 8
Bits
7
6
5
4
3
2
1
0
Symbols
gCUB
gCUB
: Returns a value that represents the Finger B with instantaneous current consumption from 0x00 to 0xFF.
Register:
FINGER C POSITION REQUEST ECHO
Address:
Byte 9
Bits
7
6
5
4
3
2
1
0
Symbols
gPRC
gPRC
: Echo of the requested position of Finger C (rPRC), 0x00 is the minimum position (fully open) and 0xFF is the maximum position (fully closed).
Register:
FINGER C POSITION
Address:
Byte 10
Bits
7
6
5
4
3
2
1
0
Symbols
gPOC
gPOC
: Returns the actual position of the Gripper Finger C, 0x00 is the minimum position (fully open) and 0xFF is the maximum position (fully closed).
Register:
FINGER C CURRENT
Address:
Byte 11
©Robotiq inc. 2008-2018
41
