2F-85 & 2F-140 - Instruction Manual
4.7.4. Master read & write multiple registers FC23
Function code 23 (FC23) is used for reading the status of the gripper (robot input) and activating gripper functionalities (robot output)
simultaneously. Examples of such data are Gripper status, object status, finger position, etc. Action requests are speed, force, etc.
Example of reading and writing multiple registers FC23:
This message reads registers 0x07D0 (2000) and 0x07D1 (2001), which contains Gripper Status, Object Detection, Fault Status and
Position Request Echo. It also sets the position request, speed and force of the gripper by writing to registers 0x03E9 (1001) and
0x03EA (1002).
Request is: 09 17 07 D0 00 02 03 E9 00 02 04 00 E6 3C C8 2D 0C
Bits
Description
09
SlaveID
17
Function Code 23 (read and write multiple registers)
07D0
Address of the first requested register, read
0002
Number of registers requested (2), read
03E9
Address of the first register written to
0002
Number of registers written to (2)
04
Number of data bytes to follow (2 registers X 2 bytes/registers = 4 bytes)
00E6
Value written to register 0x03E9
3CC8
Value written to register 0x03EA
2D0C
Cyclic Redundancy Check (CRC)
70
