Robotiq 3-Finger Adaptive Robot Gripper
Instruction Manual
Robotiq inc. © 2008 - 2014
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4.3 Gripper register mapping
The 3-Finger Gripper firmware provides functionalities such as the direct position control of the fingers via "Go To"
commands. There are also additional advanced options, such as the individual control of the fingers or the Scissor
Mode.
A Simplified Control Mode is available for users which do not intend to use the advanced option. Otherwise a
register mapping for the Advanced Control Mode containing all the Gripper functionalities is also provided. From the
Gripper standpoint, there is no difference between the two modes. The Simple Control Mode is only intended to
ease usage of the Gripper for users who are only interested in basic functionalities.
Warning
When using the Simplified Control Mode, it is important to fill the unused registers with zeros.
Neglecting to do so will result in the unwanted triggering of control options and might lead to a
hazardous behavior from the Gripper. Zero fill is 00 in hexadecimal or 00000000 in binary.
