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Catherine_Bernier
Posts: 144 Handy
How to program Robotiq grippers 85 & 140 with a Denso RC8 Controller |
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Hey there,
So here are some command reference and example so that you can program your Robotiq 2-Finger gripper on a Denso RC8 controller.
Starts communication with ROBOTIQ Gripper.
Example – Connect
Stops communication with ROBOTIQ Gripper.
Example – Disconnect
Move Command
Move to a position with a set speed and force.
Input Values - Option variable array
Option(0) Input: Sets the target position for the Grippers Fingers.
Option(1) Input: Sets the Gripper closing or opening speed in real time, however, setting a speed will
not initiate motion.
Option(2) Input: Defines the final gripping force for the Gripper. The force will fix maximum current sent
to the motor while in motion. If the current limit is exceeded, the fingers stops and trigger an object
detection notification.
*Option(3) and Option(4) are not used on the move function. Please ignore values if any.
Example - Move
Obtains Gripper Status, Position Request Echo, and Finger Current Bytes.
Return Values - Option variable array
Option(0) Output: Gripper Status Byte

Option(1) Output: Reserved

Option(2) Output: Fault Status

Option(3) Output: Position Request Echo
Option(4) Output: Position

Option(5) Output: Finger Current

Example - Get Activation Status
gACT Command
Returns only the value of the Initialization status.
Return Values - Option variable array
Option(0) Output: Initialization Status

Example - Get Initialization Status
Returns if the robot is stopped or if is currently moving to a point.
Return Values - Option variable array
Option(0) Output: Action Status
Example – Get Activation Status
Returns the current motion status of the gripper.
Return Values - Option variable array
Option(0) Output: Motion Status
Example – Get Motion Status
Returns the object detection status. The Object detection status is a built-in feature that provides information on possible object pick-up ignore if gGTO == 0.
Option(0) Output: Object detection status.

Example – Get Object Detection Status
Returns Fault status general error messages which are useful for troubleshooting. Fault LED (red) is present on the Gripper chassis; LED can be blue, red or both and be solid or blinking.
Option (0) Output: General error messages that is useful for troubleshooting.
gPR Command
Echo of Request position of the Gripper.
Option(0) Output: Value of target position.

gPO Command
Current position of Gripper obtained via encoders.
Output(0) Output: Actual position of the Gripper obtained via the encoder.
gCU Command
Instantaneous current read from the motor drive, value between &b00000000 and &b11111111, approximate current equivalent is 10 * value read in mA.
There you go!
For an example of application, click here.
So here are some command reference and example so that you can program your Robotiq 2-Finger gripper on a Denso RC8 controller.
Notice that all programs starts with #Include "Robotiq.pcs" - This is the required driver : Get it here!Connect Command
Starts communication with ROBOTIQ Gripper.
Example – Connect
#Include "Robotiq.pcs" Sub Main Dim Opt(5) As Integer Call Robotiq("Connect", opt) 'Connect to Gripper 'Activation Completed End SubDisconnect Command
Stops communication with ROBOTIQ Gripper.
Example – Disconnect
#Include "Robotiq.pcs" Sub Main Dim Opt(5) As Integer Call Robotiq("Disconnect", opt) 'Disconnect from Gripper 'Gripper Disconnected End Sub
Move Command
Move to a position with a set speed and force.
Input Values - Option variable array
Option(0) Input: Sets the target position for the Grippers Fingers.



Example - Move
#Include "Robotiq.pcs" Sub Main Dim Opt(5) As Integer Opt(0) = &hFF 'Close Position Opt(1) = &hFF 'Full Speed Opt(2) = &hFF 'Max Force Call Robotiq("Move", opt) 'Move Gripper End SubGripperStatus Command
Obtains Gripper Status, Position Request Echo, and Finger Current Bytes.
Return Values - Option variable array
Option(0) Output: Gripper Status Byte

Option(1) Output: Reserved

Option(2) Output: Fault Status

Option(3) Output: Position Request Echo


Option(5) Output: Finger Current

Example - Get Activation Status
#Include "Robotiq.pcs" Sub Main Dim opt(5) As Integer Dim var As Integer Call Robotiq("Disconnect", opt) 'Disconnect from Gripper Do While(1) Call Robotiq("GripperStatus", opt) 'Get Gripper Status 'Check that Gripper Has been set for activation gACT == 0x1 If (opt(0) AND &b000000001) = 1 Then 'Check That Activation Has been completed gSTA != 0x03 If (opt(0) AND &b00110000) <> 1 Then Exit Do 'Exit Loop End If Else Call Robotiq("Connect", opt) 'Connect Gripper End If Loop End Sub
gACT Command
Returns only the value of the Initialization status.
Return Values - Option variable array
Option(0) Output: Initialization Status

#Include "Robotiq.pcs" Sub Main Dim Opt(5) As Integer Call Robotiq("gACT", Opt) If (Opt(0) = &b0) Then PrintMsg "Gripper Not Active" Else PrintMsg "Gripper Active" End If End SubgGTO Command
Returns if the robot is stopped or if is currently moving to a point.
Return Values - Option variable array
Option(0) Output: Action Status

#Include "Robotiq.pcs" Sub Main Dim Opt(5) As Integer Call Robotiq("gGTO", opt) If (Opt(0) = &b0) Then PrintMsg "Gripper Stopped" Else PrintMsg "Gripper Moving to Position" End If End SubgSTA Command
Returns the current motion status of the gripper.
Return Values - Option variable array
Option(0) Output: Motion Status

#Include "Robotiq.pcs" Sub Main Dim Opt(5) As Integer Call Robotiq("gSTA", opt) Select Case Opt(0) Case &b00 PrintMsg "Gripper is in Reset" Case &b01 PrintMsg "Activation in Progress" Case &b11 PrintMsg "Activation is Completed" End Select End SubgOBJ Command
Returns the object detection status. The Object detection status is a built-in feature that provides information on possible object pick-up ignore if gGTO == 0.
Option(0) Output: Object detection status.

Example – Get Object Detection Status
#Include "Robotiq.pcs" Sub Main Dim Opt(5) As Integer Opt(0) = &hFF 'Close Position Opt(1) = &h0F 'Slower speed (so gripper can detect when there 'isn’t a part and when it reached the end 'position) Opt(2) = &hFF 'Max Force Call Robotiq("Move", opt) 'Move Gripper Do While(1) 'Get Object Detection Status While 'Gripper is closing Call Robotiq("gOBJ", opt) Select Case Opt(0) Case &b11 PrintMsg "Gripper Fully Close. No Object Found" Exit Do Case &b01 PrintMsg "Object Found" Exit Do End Select Loop End SubgFLT Command
Returns Fault status general error messages which are useful for troubleshooting. Fault LED (red) is present on the Gripper chassis; LED can be blue, red or both and be solid or blinking.
Option (0) Output: General error messages that is useful for troubleshooting.

Echo of Request position of the Gripper.
Option(0) Output: Value of target position.

gPO Command
Current position of Gripper obtained via encoders.
Output(0) Output: Actual position of the Gripper obtained via the encoder.

Instantaneous current read from the motor drive, value between &b00000000 and &b11111111, approximate current equivalent is 10 * value read in mA.
There you go!
For an example of application, click here.
Catherine Bernier, Jr. Eng.
Tagged:
Thanks a lot!