ROBOTIQ AirPick, Оригинальное уведомление

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Register: GRIPPER STATUS EXTENSION
Address: Byte 1
Bits 7 6 5 4 3 2 1 0
Symbols Reserved gVAS
gVAS (Vacuum actuator status)
The rVAS bits indicates the status of the gripper actuators.
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0b00 - Standby. Vacuum generator and valves deasserted (OFF).
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0b01 - Gripping. Vacuum generator ON.
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0b10 - Passive releasing. Releasing to ambient pressure.
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0b11 - Active releasing. Releasing with positive pressure.
Register: FAULT STATUS
Address: Byte 2
Bits 7 6 5 4 3 2 1 0
Symbols kFLT gFLT
gFLT (Gripper fault status)
The gFLT bits indicates priority, minor or major fault codes that are useful for troubleshooting.
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No fault
o
0x0 - No fault
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Priority faults (0x0 < gFLT <= 0x7)
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0x5 - Action delayed
o
0x3 - Very porous material detected
o
0x6 - Gripping timeout. rGTO must be re-asserted (rGTO=0 then rGTO=1) or one of the following parameters must be
changed (rMOD, rPR, rSP, rFR).
o
0x7 - The Activation bit not set. Activation bit must be set prior to action (rACT=1).
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Minor faults (0x8 <= gFLT <= 0x9)
o
0x8 - Maximum operating temperature exceeded, wait for cool-down.
o
0x9 - No communication during at least 1 second. This fault will only be returned once if the next valid communication is a
“read command” of the FAULT STATUS register.
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