ROBOTIQ AirPick, Оригинальное уведомление

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AirPick - Instruction Manual
Warning
Setting the pressure tolerance too low might wear the product prematurely resulting in a shorter lifespan than expected.
The warranty of the product is defined as the number of grip/release valve cycles and not in terms of object grip/release
cycles.
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 gMOD gACT
gACT (Activate echo)
The gACT bit is the echo of the rACT bit in the ACTION REQUEST register.
gMOD (Gripper mode echo)
The gMOD bits are the echo of the rMOD bits in the ACTION REQUEST register.
gGTO (Regulate echo)
The gGTO bit is the echo of the rGTO bit in the ACTION REQUEST register. Valid only if the vacuum/pressure is regulated,
otherwise it returns 0x0.
gSTA (Activation status)
The rSTA bits indicates the status of the gripper activation sequence.
l
0b00 - Gripper is not activated.
l
0b11 - Gripper is operational.
gOBJ (Object status)
The gOBJ bits indicates the status of the object detection.
l
0b00 - Unknown object detection. Regulating towards requested vacuum/pressure.
l
0b01 - Object detected. Minimum vacuum value reached.
l
0b10 - Object detected. Maximum vacuum value reached.
l
0b11 - No object detected. Object loss, dropped or gripping timeout reached.
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