Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual

Address: Byte 1

Bits 7 6 5 4 3 2 1 0

Symbols

gDTS gDTC gDTB gDTA

Hint

Object status byte provides you with a built-in object detection feature that can replace very

complex algorithms.

gDTA

0x00 - Finger A is in motion (only meaningful if gGTO = 1).

0x01 - Finger A has stopped due to a contact while opening.

0x02 - Finger A has stopped due to a contact while closing.

0x03 - Finger A is at the requested position.

gDTB : Finger B object detection status returns information on possible object contact from Finger B.

0x00 - Finger B is in motion (only meaningful if gGTO = 1).

0x01 - Finger B has stopped due to a contact while opening.

0x02 - Finger B has stopped due to a contact while closing.

0x03 - Finger B is at the requested position.

gDTC : Finger C object detection status returns information on possible object contact from Finger C.

0x00 - Finger C is in motion (only meaningful if gGTO = 1).

0x01 - Finger C has stopped due to a contact while opening.

0x02 - Finger C has stopped due to a contact while closing.

0x03 - Finger C is at the requested position.

gDTS : Scissor object detection status returns information on possible object contact from scissor maneuver.

0x00 - Scissor is in motion (only meaningful if gGTO = 1).

0x01 - Scissor has stopped due to a contact while opening.

0x02 - Scissor has stopped due to a contact while closing.

0x03 - Scissor is at the requested position.

When a contact is detected, the corresponding axis will stop unless one of these conditions is met: a new position

command is requested in the opposite direction, the requested force level is increased or the bit is clearedrGTO

and set again.

Warning

Resetting the contact detection repeatedly at high frequency using the bit may cause arGTO

major failure of the Gripper. This is not considered normal usage of the Gripper and it is not

recommended by Robotiq.