A ROS2 driver for the Robotiq 2f gripper

Work in progress...

Uses modbus protocol with RTU frame format for serial interfacing

Tested with:

• Model: AGC-GRP-085-2016
• OS: Linux
• ROS version: Galactic (r2r v.0.6.2.)
• Serial standard: RS-485

Preliminaries

• sudo usermod -a -G dialout $USER
• sudo reboot
• Get the msg package from: todo...

Low level input mapping

Byte 0: Gripper Status (gOBJ, gSTA, gGTO, gACT)
Byte 1: Reserved
Byte 2: Fault Status (kFLT, gFLT)
Byte 3: Position Request Echo (gPR)
Byte 4: Position (gPO)
Byte 5: Current (gCU)

Byte 0: Gripper Status

• 0: gACT - Activation status, echo of the rACT bit (activation bit).
  • 0x0 - Gripper reset.
  • 0x1 - Gripper activation.
• 1: Reserved
• 2: Reserved
• 3: gGTO - Action status, echo of the rGTO bit (go to bit).
  • 0x0 - Stopped (or performing activation / automatic release).
  • 0x1 - Go to Position Request.
• 4, 5: gSTA - Gripper status, returns the current status & motion of the Gripper fingers.
  • 0x00 - Gripper is in reset ( or automatic release ) state. See Fault Status if Gripper is activated.
  • 0x01 - Activation in progress.
  • 0x02 - Not used.
  • 0x03 - Activation is completed.
• 6, 7: gOBJ - Object detection status, is a built-in feature that provides information on possible object pick-up. Ignore if gGTO == 0.
  • 0x00 - Fingers are in motion towards requested position. No object detected.
  • 0x01 - Fingers have stopped due to a contact while opening before requested position. Object detected opening.
  • 0x02 - Fingers have stopped due to a contact while closing before requested position. Object detected closing.
  • 0x03 - Fingers are at requested position. No object detected or object has been loss / dropped.

Byte 1: Reserved

Byte 2: Fault Status

• 0-3: gFLT: Fault status returns general error messages that 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.
  • 0x00 - No fault (LED is blue)
  • Priority faults (LED is blue)
    • 0x05 - Action delayed, activation (reactivation) must be completed prior to perfmoring the action.
    • 0x07 - The activation bit must be set prior to action.
  • Minor faults (LED continuous red)
    • 0x08 - Maximum operating temperature exceeded, wait for cool-down.
    • 0x09 - No communication during at least 1 second.
  • Major faults (LED blinking red/blue) - Reset is required (rising edge on activation bit rACT needed).
    • 0x0A - Under minimum operating voltage.
    • 0x0B - Automatic release in progress.
    • 0x0C - Internal fault; contact support@robotiq.com.
    • 0x0D - Activation fault, verify that no interference or other error occurred.
    • 0x0E - Overcurrent triggered.
    • 0x0F - Automatic release completed.
• 3-7: kFLT - See your optional Controller Manual (input registers & status).

Byte 3: Position request echo

• 0-7: gPR - Echo of the requested position for the Gripper, value between 0x00 and 0xFF
  • 0x00 - Full opening.
  • 0xFF - Full closing.

Byte 4: Position

• 0-7: gPO: Actual position of the Gripper obtained via the encoders, value between 0x00 and 0xFF.
  • 0x00 - Fully opened.
  • 0xFF - Fully closed.

Byte 5: Current

• 0-7: gCU: The current is read instantaneously from the motor drive, value between 0x00 and 0xFF, approximate current equivalent is 10 * value read in mA.

High level input mapping

todo

Low level output mapping

todo

High level output mapping

todo

docker

To build using docker:

sudo docker build . --tag robotiq

to run

sudo docker run -t -i --rm --device=/dev/ttyUSB0 --network host robotiq ros2 run robotiq_2f_driver robotiq_2f_driver