Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual
Robotiq inc. © 2008 - 2014 36
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Figure 4.1.1 : 3-Finger Gripper connections.
The Gripper controller has an internal memory that is shared with the robot controller. One part of the memory is for
the robot output, gripper functionalities. The other part of the memory is for the robot input, gripper status. Two
types of actions can then be done by the robot controller:
Write in the registers to activate ;robot output functionalities
Read in the registers to get the of the Gripper.robot input status
To control the 3-Finger Adaptive Robot Gripper, must be written, theOutput Registers & Functionnalities
following is a summary of the various registers, see for details :Robot output registers & functionnalities
Action Request - Will command the Gripper to activate, switch operation mode, go to requested position or
release its grip.
Gripper Options - Contains optional modes of controls.
Position Request - Sets the desired position of the grip (but does not activate movement).
Speed - Sets the desired speed of the grip.
Force - Sets the desired force of the grip.