Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual

Figure 4.4.1 : Reachable workspace of the fingers and scissor axis, zone 1 is never reachable, zone 2 is only

reachable in individual control of Scissor Mode.

Address: Byte 4

Bits 7 6 5 4 3 2 1 0

Symbols

rSPA

This register is used to set the Gripper closing or opening speed (or Finger A only if bit is set) in real time,rICF

however, setting a speed will not initiate a motion.

rSPA

0x00 minimum speed

0xFF maximum speed

Info

0x00 speed does not mean absolute zero speed. It is the minimum speed of the Gripper.

Minimum speed: 22 mm/s

Maximum speed: 110 mm/s

Speed / count: 0.34 mm/s