Robotiq 3-Finger Adaptive Robot Gripper
Instruction Manual
Robotiq inc. © 2008 - 2014
45
rICS: In Individual Control of Scissor, the scissor axis moves independently from the Grasping Mode. When this
option is selected, the
bits (Grasping Mode) are ignored as the scissor axis position is defined by the
(P
rMOD
rPRS
osition Request for the Scissor axis) register which takes priority.
0x0 - Normal.
0x1 - Enable Individual Control of Scissor. Disable Mode Selection.
Info
To avoid geometric interference between Fingers B and C, the reachable positions for the scissor
axis is reduced if the Individual Control of Scissor option is selected. Please refer to the
(P
rPRA
osition Request) register description for more information about the reachable positions of the
scissor axis.
Register: GRIPPER OPTION 2
Address: Byte 2
Bits
7
6
5
4
3
2
1
0
Symbols
Reserved
Register: POSITION REQUEST (FINGER A IN INDIVIDUAL MODE)
Address: Byte 3
Bits
7
6
5
4
3
2
1
0
Symbols
rPRA
This register is used to set the target position of the fingers for the Adaptive Gripper (or Finger A only if bit
is
rICF
set). The positions 0x00 and 0xFF correspond respectively to the fully opened and fully closed mechanical stops.
Figure 4.4.1 represents the reachable workspace of the fingers and scissor axis. Note that the finger position on the
figure represents the maximum value for the three fingers. Also, note that the fully opened and fully closed software
limits are not shown on the figure for simplicity. The fully closed software limit of the scissor axis when the Individual
Control of Scissor option is selected is also not shown for simplicity.
rPRA
0x00 minimum position (open)
0xFF maximum position (close)
Info
In order to protect the Gripper from geometric interferences, several software limits are
implemented and therefore some positions are not reachable. When a finger reaches the
software limit, the Gripper status will indicate that the requested position has been reached. This
is because the requested position is internally replaced by the software limit. In figure 4.4.1, zone
1 is the never reachable space, while zone 2 is only reachable when requesting the scissor
motion in individual mode.
