Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual

4.4 Robot output registers & functionalities

Address: Byte 0

Bits 7 6 5 4 3 2 1 0

Symbols Reserved rATR rGTO rMOD rACT

rACT: First action to be made prior to any other actions, bit will initialize the Adaptive Gripper. Clear torACT rACT

reset the Gripper and clear fault status.

0x0 - Deactivate Gripper.

0x1 - Activate Gripper (must stay on after activation routine is completed).

Warning

When setting rACT to one, the Gripper will begin movement to complete its auto-calibration

feature.

Caution

rACT bit must remain on afterwards for any other action to be performed.

rMOD: Changes the Gripper . When the Grasping Mode is changed, the Gripper first opensGrasping Mode

completely to avoid interference between the fingers, then goes to the selected mode. This option is ignored if the bit

is set (individual control of the scissor motion option).rICS

0x0 – Go to Basic Mode.

0x1 – Go to Pinch Mode.

0x2 – Go to Wide Mode.

0x3 – Go to Scissor Mode.

rGTO: The "Go To" action moves the Gripper fingers to the requested position using the configuration defined by the

other registers and the bits. The only motions performed without the bit are: activation, the moderMOD rGTO

change and automatic release routines.

0x0 - Stop.

0x1 - Go to requested position.

rATR: Automatic Release routine action slowly opens the Gripper fingers until all motion axes reach their

mechanical limits. After all motion is completed, the Gripper sends a fault signal and needs to be reinitialized before

any other motion is performed. The bit overrides all other commands excluding the activation bit ( ).rATR rACT

0x0 - Normal.

0x1 - Emergency auto-release.

Caution

The Automatic Release is meant to disengage the Gripper after an emergency stop of the robot.

The Automatic Release is not intended to be used under normal operating conditions.