4. Control
Info
Unless specified, all values in this section are hexadecimal values.
4.1. Overview
The Robotiq 2-Finger Adaptive Gripper is controlled directly via Modbus RTU using a RS 485 signal.
Tip
To test various gripper features such as object detection and force control, use the Robotiq User Interface. To download it,
go to
, click on Select product > 2F-85 and 2F-140 Grippers > [any robot brand] > Software > Robotiq
User Interface > DOWNLOAD ZIP.
Since the Robotiq 2-Finger has its own embedded controller, you can use high-level commands, such as "Go to requested position" to
control it.
Info
The operator can control force, speed and position of the gripper fingers.
l
Finger movement is always synchronized.
l
Finger movement is initiated via a single "Go to requested position" command.
l
Parallel or encompassing grip is performed automatically.
l
Object detection is built-in. Operator is notified after an object is picked once the "Go to" command has been initiated. The
feature also works for lost or dropped objects, and the user can be alerted if an object is dropped after being detected.
l
In case of emergency, auto-release is engaged (open or close).
Control using registers
Grippers share their internal memory with the robot controller. One part of the memory is for the robot output; gripper functionalities.
The other part of the memory is for the robot input; gripper status. Two types of actions are then available to a robot controller:
1. Write in the robot output registers to activate functionalities;
2. Read in the robot input registers to get the status of the gripper.
The Gripper Register Mapping section maps the registers used to control the gripper or to read its status while the Robot Output
Registers & Functionalities section details the output (write) register functions, and the Robot Input Registers & Status section details the
input (read) register status. The figure below is a representation of the memory and the control logic of the gripper. For details, see the
Control Logic Example section.
2F-85 & 2F-140 - Instruction Manual
47
Содержание Robotiq 2F-140
Страница 22: ...2F 85 2F 140 Instruction Manual Fig 3 1 Installing the gripper on the robot wrist for CB Series 22...
Страница 23: ...2F 85 2F 140 Instruction Manual Fig 3 2 Installing the gripper onto the robot wrist for e Series 23...
Страница 48: ...2F 85 2F 140 Instruction Manual Fig 4 1 2 Finger control logic overview 48...
Страница 117: ...2F 85 2F 140 Instruction Manual Fig 5 2 2F 85 dimensions closed Fig 5 3 General dimension of 2F 140 opened...