Manual

Robotiq 3-Finger Adaptive Robot Gripper Instruction Manual

where

BITS DESCRIPTION

76B Unique transaction identifier (chosen randomly)

0000 Protocol Identifier (Modbus)

0013 Length

02 SlaveID

04 Function Code 04 (Read Input Registers)

10 Number of data bytes to follow (8 registers x 2

bytes/register = 16 bytes)

B9EA Content of register 0x07D0 (GRIPPER STATUS =

0xB9, OBJECT STATUS = 0xEA): gSTA = 2 for

"Gripper is stopped. All fingers stopped before

, requested position" gDTA = gDTB = gDTC = 2 for

"Finger X has stopped due to a contact while

closing"

00FF Content of register 0x07D1 (FAULT STATUS = 0x00,

POSITION REQUEST ECHO = 0xFF): the position

request echo tells that the command was well received

and that the GRIPPER STATUS is valid.

BC00 Content of register 0x07D2 (FINGER A POSITION =

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

finger A is 188/255 and the motor current is 0mA

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)

Step 6: Move the robot to the release location

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