2F-85 & 2F-140 - Instruction Manual
4.7.3. Preset multiple registers (FC16)
Function code 16 (FC16) is used to activate functionalities of the gripper (robot output). Examples of such data are action request,
speed, force, etc.
Example of setting multiple registers FC16:
This message requests to set position request, speed and force of the gripper by setting register 0x03E9 (1002) and 0x03EA.
Request is: 09 10 03 E9 00 02 04 60 E6 3C C8 EC 7C
Bits
Description
09
SlaveID
10
Function Code 16 (Preset Multiple Registers)
03E9
Address of the first register
0002
Number of registers written to
04
Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes)
60E6
Value written to register 0x03E9
3CC8
Value written to register 0x03EA
EC7C
Cyclic Redundancy Check (CRC)
Response is: 09 10 03 E9 00 02 91 30
Bits
Description
09
SlaveID
10
Function Code 16 (Preset Multiple Registers)
03E9
Address of the first register
0002
Number of written registers
9130
Cyclic Redundancy Check (CRC)
69
