3-Finger Adaptive Robot Gripper Instruction Manual
Info
0x00 speed does not mean absolute zero speed. It is the minimum speed of the Gripper.
Minimum speed: 22 mm/s
Maximum speed: 110 mm/s
Speed / count: 0.34 mm/s
Register:
FORCE (FINGER A IN INDIVIDUAL MODE)
Address:
Byte 5
Bits
7
6
5
4
3
2
1
0
Symbols
rFRA
The force setting defines the final grasping force of the Adaptive Gripper (or Finger A only if bit
rICF
is set). The force will fix maximum current sent to the
motors while in motion. For each finger, if the current limit is exceeded, the finger stops and triggers an object detection notification.
rFRA
l
0x00 minimum force
l
0xFF maximum force
Info
Force setting is overridden for a short period when the motion is initiated. Also, note that 0x00 force does not mean zero force; it is the minimum
force that the Gripper can apply.
Minimum force: 15 N
Maximum force: 60 N
Force / count: 0.175 N (approximate value, relation non-linear)
Register:
FINGER B POSITION REQUEST
Address:
Byte 6
Bits
7
6
5
4
3
2
1
0
Symbols
rPRB
This register is used to set the Finger B target position. It is only available if the Individual Control of Finger option is selected (bit
rICF
is set). Please refer
to
rPRA
(position request) register for more information.
Register:
FINGER B SPEED
Address:
Byte 7
Bits
7
6
5
4
3
2
1
0
Symbols
rSPB
This register is used to set Finger B speed. It is only applied if the Individual Control of Finger option is selected (bit
rICF
is set). Please refer to
rSPA
(speed) register for more information.
Register:
FINGER B FORCE
Address:
Byte 8
Bits
7
6
5
4
3
2
1
0
Symbols
rFRB
This register is used to set Finger B force. It is only applied if the Individual Control of Finger option is selected (bit
rICF
is set). Please refer to
rFRA
(force) register for more information.
Register:
FINGER C POSITION REQUEST
Address:
Byte 9
Bits
7
6
5
4
3
2
1
0
Symbols
rPRC
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