Robotiq 3-Finger Adaptive Robot Gripper
Instruction Manual
Robotiq inc. © 2008 - 2014
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CANopen communication protocol
Figure 3.5.2.3 shows the pin-out for the CANopen communication protocol for the receptacle (male) present on the
3-Finger Adaptive Robot Gripper and the cable (female) provided with your Gripper.
Figure 3.5.2.3 : CANopen communication pinout.
Caution
There is no terminating resistor mounted in the Gripper.
The shield of the cable must be grounded in the robot controller.
Fusing must be respected.
Tip
CANopen standard requires a 120 Ohms resistor to be mounted at the beginning and at the end
of the line. If Gripper is the end of line, then a 120 Ohms resistor must but mounted between pin
4 and 5.
