Robotiq 2-Finger Adaptive Robot Gripper - 200
Instruction Manual
Robotiq inc. © 2008-2013
47
4.7 Robot input registers & status
Info
Register format is Little Endian (Intel format), namely from LSB (Less Significant Bit) to MSB
(Most Significant Bit).
Register: GRIPPER STATUS
Address: Byte 0
Bit
Name
Description
0
gACT
Initialization status ( Echo of the
rACT bit ) :
0 – Gripper reset.
1 – Gripper activation.
1
gRS1
RESERVED
2
gRS2
RESERVED
3
gGTO
Go To request status :
0 – Standby ( or performing
activation/automatic release ).
1 – Go to Position Request.
4
gSTA
Gripper status :
00 – Gripper is in reset ( or
automatic release ) state. see Fault
Status if Gripper is activated.
10 – Activation in progress.
01 – Not used.
11 – Activation is completed.
5
6
gOBJ
Object detection status :
00 – Fingers are in motion ( only
meaningful if gGTO = 1 ).
10 – Fingers have stopped due to a
contact while opening.
01 – Fingers have stopped due to a
contact while closing.
11 – Fingers are at requested
position.
7
