Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual

00C1 Content of register 0x07D3 (FINGER B POSITION

REQUEST ECHO = 0x00, FINGER B POSITION =

0xC1)

0000 Content of register 0x07D4 (FINGER B CURRENT =

0x00, FINGER C POSITION REQUEST ECHO = 0x00)

BD00 Content of register 0x07D5 (FINGER C POSITION =

0xBD, FINGER C CURRENT = 0x00)

0089 Content of register 0x07D6 (SCISSOR POSITION

REQUEST ECHO = 0x00, SCISSOR POSITION =

0x89)

0000 Content of register 0x07D7 (SCISSOR CURRENT =

0x00)

4E17 Cyclic Redundancy Check (CRC)

Step 6: Move the robot to the release location

Step 7: Open the Gripper at full speed and full force

Request is:

09 10 03 E8 00 03 06 09 00 00 00 FF FF 72 19

where

BITS DESCRIPTION

09 SlaveID

10 Function Code 16 (Preset Multiple Registers)

03E8 Address of the first register

0003 Number of registers to write to

06 Number of data bytes to follow (3 registers x 2

bytes/register = 6 bytes)

0900 Value written to register 0x03E9 (ACTION REQUEST =

0x09 and GRIPPER OPTIONS = 0x00): rACT = 1 for

, "Activate Gripper" rMOD=0 for "Go to Basic Mode"

, rGTO = 1 for "Go to Requested Position"

0000 Value written to register 0x03EA (GRIPPER OPTIONS

2 = 0x00 and POSITION REQUEST = 0x00): rPR =

0/255 for full opening of the Gripper (partial

opening would also be possible)

FFFF Value written to register 0x03EB (SPEED = 0xFF and

FORCE = 0xFF): full speed and full force

7219 Cyclic Redundancy Check (CRC)