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Gripper Register Mapping
The Robotiq 2F gripper has internal memory that
is shared with the robot controller. One block of
memory is dedicated to robot outputs (i.e.
gripper actions). The other is dedicated to robot
inputs (i.e. gripper status). The robot controller
can then perform two types of actions:
1. Write robot output registers to activate
gripper functionalities
2. Read robot input registers to get the
status of the Gripper
For more information on the details and use of
each register, please review Chapter 4 of the
Robotiq 2-Finger Gripper Instruction Manual
Mapped Inputs (24 bytes)
Robotiq
Register
YRC1000
Input Group #
YRC1000micro
Input Group #
Robot Input / Status
Byte 0 to 3
5 to 8
7 to 10
Header
Byte 4
9
11
Gripper Status
Byte 5
10
12
Reserved
Byte 6
11
13
Fault Status
Byte 7
12
14
Position Request Echo
Byte 8
13
15
Position
Byte 9
14
16
Current
Byte 10 to 23
15 to 28
17 to 30
Reserved
Mapped Outputs (20 bytes)
Robotiq
Register
YRC1000
Output Group #
YRC1000micro
Output Group #
Robot Output /
Functionalities
Byte 0
5
7
Action Request
Byte 1
6
8
Reserved
Byte 2
7
9
Reserved
Byte 3
8
10
Position Request
Byte 4
9
11
Speed
Byte 5
10
12
Force
Byte 6 to 19
11 to 24
13 to 26
Reserved
