Robotiq 2-Finger Adaptive Gripper
Instruction Manual
Robotiq inc. © 2016
39
4.3 Robot output registers & functionalities
Register: ACTION REQUEST
Address: Byte 0
Bits
7
6
5
4
3
2
1
0
Symbols Reserved rARD rATR rGTO Reserved rACT
rACT: First action to be made prior to any other actions,
bit will initialize the Adaptive Gripper. Clear
to reset the Gripper and clear fault status.
rACT
rACT
0x0 - Deactivate Gripper.
0x1 - Activate Gripper (must stay on after activation routine is completed).
rGTO : The "Go To" action moves the Gripper fingers to the requested position using the configuration defined by the other registers,
will engage
rGTO
motion while byte 3, 4 and 5 will determine aimed position, force and speed. The only motions performed without the
bit are activation and automatic
rGTO
release routines.
0x0 - Stop.
0x1 - Go to requested position.
rATR : Automatic Release routine action slowly opens the Gripper fingers until all motion axes reach their mechanical limits. After all motion is completed,
the Gripper sends a fault signal and needs to be reinitialized before any other motion is performed. The
bit overrides all other commands excluding
rATR
the activation bit (
).
rACT
0x0 - Normal.
0x1 - Emergency auto-release.
Warning
When setting
to one, the Gripper will begin movement to complete its auto-calibration feature.
rACT
Info
Power loss will clear rACT, rACT bit must then be reset to one to allow operation of the Gripper.
Caution
rACT bit must stay on afterwards for any other action to be performed.
Caution
The automatic release is meant to disengage the Gripper after an emergency stop of the robot.
The automatic release is not intended to be used under normal operating conditions.
require rACT to be reseted (rACT == 0 then rACT == 1 ).
Automatic release will
