2F-85 & 2F-140 - Instruction Manual
rATR
Automatic Release routine action slowly opens the gripper fingers until all motion axes reach their mechanical limits. After all motions
are completed, the gripper sends a fault signal and needs to be reinitialized before any other motion is performed. The rATR bit
overrides all other commands excluding the activation bit (rACT).
l
0x0 - Normal.
l
0x1 - Emergency auto-release.
Caution
The automatic release is meant to disengage the gripper after an emergency stop of the robot.
The automatic release is not intended to be used under normal operating conditions.
Automatic release will require the rACT to be cleared (rACT == 0) then set (rACT == 1).
rARD
Auto-release direction. When auto-releasing, rARD commands the direction of the movement. The rARD bit should be set prior to or at
the same time as the rATR bit, as the motion direction is set when the auto-release is initiated.
l
0x0 - Closing auto-release
l
0x1 - Opening auto-release
4.3.2. Register: GRIPPER OPTIONS
Address: Byte 1
Bits
7
6
5
4
3
2
1
0
Symbol
Reserved
4.3.3. Register: GRIPPER OPTIONS 2
Address: Byte 2
Bits
7
6
5
4
3
2
1
0
Symbol
Reserved
51