Description
01.00|WSG |en
11
Byte Number Register Name Description
Bit 5:
OF6
Output User Flag 6
Bit 6:
OF7
Output User Flag 7
Bit 7:
OF8
Output User Flag 8
2..5
SYSSTATE
System State
Current system state of the gripper encoded as a bit vec-
tor
. This register is updated every bus
cycle with the system state flags regardless of the cur-
rently processed command. Please note that the system
state flags should not be used to control the grasping
process. Use the grasping state instead.
Bit Index:
Name
Bit 0
REFERENCED
Bit 1
MOVING
Bit 2
BLOCKED_MINUS
Bit 3
BLOCKED_PLUS
Bit 4
SOFT_LIMIT_MINUS
Bit 5
SOFT_LIMIT_PLUS
Bit 6
AXIS_STOPPED
Bit 7
TARGET_POS_REACHED
Bit 8
OVERDRIVE_MODE
2
Bit 9
FORCECNTL_MODE
Bit 10
reserved
Bit 11
reserved
Bit 12
FAST_STOP
Bit 13
TEMP_WARNING
Bit 14
TEMP_FAULT
Bit 15
POWER_FAULT
Bit 16
CURR_FAULT
Bit 17
FINGER_FAULT
Bit 18
CMD_FAILURE
Bit 19
SCRIPT_RUNNING
Bit 20
SCRIPT_FAILURE
Bit 21
reserved
Bit 22
reserved
Bit 23
reserved
Bit 24
reserved
