Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual

F9FF Content of register 0x07D0 (GRIPPER STATUS =

0xF9, OBJECT STATUS = 0xFF): gSTA = 3 for

"Gripper is stopped. All fingers reached requested

position"

0000 Content of register 0x07D1 (FAULT STATUS = 0x00,

POSITION REQUEST ECHO = 0x00): the position

request echo tells that the command was well received

and that the GRIPPER STATUS is valid.

0700 Content of register 0x07D2 (FINGER A POSITION =

0x07, FINGER A CURRENT = 0x00): the position of

finger A is 7/255 and the motor current is 0mA

0006 Content of register 0x07D3 (FINGER B POSITION

REQUEST ECHO = 0x00, FINGER B POSITION =

0x06)

0000 Content of register 0x07D4 (FINGER B CURRENT =

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

0600 Content of register 0x07D5 (FINGER C POSITION =

0x06, 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)

348D Cyclic Redundancy Check (CRC)

Step 9: Loop back to step 3 if other objects have to be gripped.