Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual

Hint

For each Operation Mode, the operator can control the force and the speed of the fingers.

Unless individual control is selected, the movement of the fingers is always synchronized,

movement is done with a single "Go to requested position" command (the motion of each

mechanical phalanx is done automatically).

The Gripper must be initialized (activation bit) at power on. This procedure takes a few

seconds and allows the Gripper to be calibrated against internal mechanical stops.

The 3-Finger Gripper returns several registers of information to the robot controller to be read, this is called Input

, see for details:Registers & Status Robot input registers & status

Global Gripper Status - A global Gripper Status is available. This gives information such as which Operation

Mode is currently active or if the Gripper is closed or open.

Object Status - There is also an Object Status that let you know if there is an object in the Gripper and, in the

affirmative, how many fingers are in contact with it.

Hint

Object status is a built in feature that allows for object pick-up detection, see Robot

for details.input registers & status

Fault Status - The Fault Status gives additional details about the cause of a fault.

Position Request Echo - The Gripper returns the position requested by the robot to make sure that the new

command has been received correctly.

Motor Encoder Status - Information on the encoders for the four motors is also available.

Current Status - The current of the motors can also be known. Since the torque of the motor is a linear

function of the current, this gives information about the force that is applied at the actuation linkage of the

finger.