Robotiq 3-Finger Adaptive Robot Gripper
Instruction Manual
Robotiq inc. © 2008 - 2014
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4. Control
Info
Unless specified, all values in section 4 are hexadecimal values.
Info
Register format is Little Endian (Intel format), namely from LSB (Less Significant Bit) to MSB
(Most Significant Bit). Meaning that bytes are written with the least significant byte in the smallest
address. If Big-endian would be writing from left to right, Little-endian would be writing from right
to left.
4.1 Overview
Caution
This section applies to firmware 3.0 (Grippers delivered after November 2011). For prior versions
please see the
The Robotiq 3-Finger Adaptive Robot Gripper is controlled from the robot controller (see Figure 4.1.1) using an
industrial protocol (EtherNet/IP, DeviceNet, CANopen, EtherCat, etc.). The programming of the Gripper can be done
with the
of the robot or by offline programming.
Teach Pendant
Since the Robotiq 3-Finger Gripper has its own internal controller, high-level commands such as "Go to requested
position" are used to control it. The embedded Robotiq controller takes care of the regulation of the speed and the
force prescribed, while the mechanical design of the fingers automatically adapts to the shape of object(s).
