Robotiq 2-Finger Adaptive Gripper
Instruction Manual
Robotiq inc. © 2016
43
4.4 Robot input registers & status
Register: GRIPPER STATUS
Address: Byte 0
Bits
7
6
5
4
3
2
1
0
Symbols
gOBJ
gSTA
gGTO Reserved gACT
gACT : Initialization status, echo of the
bit (activation bit).
rACT
0x0 - Gripper reset.
0x1 - Gripper activation.
gGTO : Action status, echo of the
bit (go to bit).
rGTO
0x0 - Stopped (or performing activation / automatic release).
0x1 - Go to Position Request.
gSTA : Gripper status, returns the current status & motion of the Gripper fingers.
0x00 - Gripper is in reset ( or automatic release ) state. See Fault Status if Gripper is activated.
0x01 - Activation in progress.
0x02 - Not used.
0x03 - Activation is completed.
gOBJ : Object detection status, is a built-in feature that provides information on possible object pick-up. Ignore if
== 0.
gGTO
0x00 - Fingers are in motion towards requested position. No object detected.
0x01 - Fingers have stopped due to a contact while opening before requested position. Object detected opening.
0x02 - Fingers have stopped due to a contact while closing before requested position. Object detected closing.
0x03 - Fingers are at requested position. No object detected or object has been loss / dropped.
Caution
The object detection is precise only to the order of a few mm. In some circumstances object detection may not detect an object even if it is
successfully gripped. For example, picking up a thin object in a fingertip grip may be successful without object detection occurring. For such
reasons, use this feature with caution. In these applications when the "Fingers are at requested position" status of register
, this is sufficient
gOBJ
to proceed to the next step of the routine.
Tip
Checking for the correct position of the fingers (byte 4),
object detection (byte 0, bit 6 & 7) before proceeding to the next step of a
as well as
routine is a more reliable method than object detection or finger position alone.
