Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual

Address: Byte 1

rICF: In Individual Control of Fingers Mode each finger receives its own command (position request, speed and

force) unless the Gripper is in the Scissor Grasping Mode and the Independent Control of Scissor ( ) is notrICS

activated. Please refer to the (Position Request) register description for information about the reachablerPRA

positions of the fingers.

0x0 - Normal.

0x1 - Enable Individual Control of Fingers A, B and C.

Caution

As soon as the bit is set, the fingers will move towards the target defined by the positionrICF

request bytes. To avoid unwanted motion of the fingers, it is preferable to define the position

requests before setting the bit. It is also possible to clear the bit, configure therICF rGTO

registers according to the desired motion and then set the bit to start the motion.rGTO

Bits 7 6 5 4 3 2 1 0

Symbols

Reserved rICS rICF Reserved