Description
01.00|WSG |en
9
Byte Number Register Name Description
4
IF5
Input User Flag 5
5
IF6
Input User Flag 6
6
IF7
Input User Flag 7
7
IF8
Input User Flag 8
2..3
WIDTH
Command parameter “Width”
New finger opening width in 1/100 millimeters (i.e. a val-
ue of 1220 means 12.20 mm).
Encoded as INT (signed).
4..5
SPEED
Command parameter “Speed”
Current movement speed in 1/100 millimeters per second
(i.e. a value of 3005 means 30.05 mm/s), given as finger
speed relative to each other.
Encoded as WORD (unsigned).
NOTICE! Setting this parameter to a value beyond the
system limits and triggering a motion-related function
using it raises a FAST STOP.
6..7
FORCELIMIT
Command parameter “Force Limit”
New grasping force limit in 1/100 Newton (i.e. a value of
1050 means 10.50 N). The grasping force is twice the no-
minal force that is applied to the part to be grasped.
Encoded as INT (signed), only positive values are allowed.
NOTICE! Setting this parameter to a value beyond the
system limits and triggering a motion-related function
using it raises a FAST STOP.
To initiate a command, the command parameters have to be set up
and the respective command flag has to be changed from 0 to 1 (i.e.
a raising transition). Jog Mode flags are level-sensitive. A detailed de-
scription of the specific commands can be found in
NOTE
If more than one command flag was changed simultaneously, only the
command with the lowest bit number is executed (i.e. setting both
MOVE and GRASP flags from 0 to 1 will result in a MOVE command).
NOTICE
Changing parameters while fingers are moving (i.e. MOVING in
the system flags is 1) will result in a FAST STOP.
