2F-85 & 2F-140 - Instruction Manual
Example of response if the grasp is completed: 09 04 06 B9 00 00 FF BD 00 5C 9A
Bits
Description
09
SlaveID
04
Function Code 04 (Read Input Registers)
06
Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
B900
Content of register 07D0 (GRIPPER STATUS = 0xB9, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO = 1
for "Go to Position Request" and gOBJ = 2 for "Fingers have stopped due to a contact while closing"
00FF
Content of register 07D1 (FAULT STATUS = 0x00, POSITION REQUEST ECHO = 0xFF): the position request echo tells
that the command was well received and that the GRIPPER STATUS is valid.
BD00
Content of register 07D2 (POSITION = 0xBD, FINGER CURRENT = 0x00): the position is 189/255 (can be used to validate
the size of the seized object)
5C9A
Cyclic Redundancy Check (CRC)
77
