2F-85 & 2F-140 - Instruction Manual
Step 6: Move the robot to the release location
Step 7: Open the Gripper at full speed and full force
Request is: 09 10 03 E8 00 03 06 09 00 00 00 FF FF 72 19
Bits
Description
09
SlaveID
10
Function Code 16 (Preset Multiple Registers)
03E8
Address of the first register
0003
Number of registers written to
06
Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
0900
Value written to register 0x03E8 (ACTION REQUEST = 0x09 and GRIPPER OPTIONS = 0x00): rACT = 1 for "Activate
Gripper", rGTO = 1 for "Go to Requested Position"
0000
Value written to register 0x03E9 (GRIPPER OPTIONS 2 = 0x00 and POSITION REQUEST = 0x00): rPR = 0/255 for full
opening of the Gripper (partial opening would also be possible)
FFFF
Value written to register 0x03EA (SPEED = 0xFF and FORCE = 0xFF): full speed and full force
7219
Cyclic Redundancy Check (CRC)
Response is: 09 10 03 E8 00 03 01 30
Bits
Description
09
SlaveID
10
Function Code 16 (Preset Multiple Registers)
03E8
Address of the first register
0003
Number of written registers
0130
Cyclic Redundancy Check (CRC)
78
