Robotiq Hand-E Gripper Instruction Manual
Step 8: Read Gripper status until the opening is completed
Request is: 09 03 07 D0 00 03 04 0E
Bits
Description
09
SlaveID
03
Function Code 03 (Read Holding Registers)
07D0
Address of the first requested register
0003
Number of registers requested (3)
040E
Cyclic Redundancy Check (CRC)
Example of response if the opening is not completed: 09 03 06 39 00 00 00 BB 10 30 E0
Bits
Description
09
SlaveID
03
Function Code 03 (Read Holding Registers)
06
Number of data bytes to follow (3 registers x 2 bytes/ register = 6 bytes)
3900
Content of register 07D0 (GRIPPER STATUS= 0x39, RESERVED = 0x00): gACT = 1 for " Gripper Activation" , gGTO = 1
for " Go to Position Request" and gOBJ = 0 for "Fingers are in motion"
0000
Content of register 07D1 (FAULT STATUS= 0x00, POSITION REQUEST ECHO = 0x00): the position request echo tells
that the command was well received and that the GRIPPER STATUSis valid.
BB10
Content of register 07D2 (POSITION = 0xBB, FINGER CURRENT = 0x10): the position is 187/ 255 and the motor current is
160mA (these values will change during motion)
30E0
Cyclic Redundancy Check (CRC)
56
Summary of Contents for ROBOTIQ HAND-E
Page 30: ...Robotiq Hand E Gripper Instruction Manual Fig 4 1 Hand E control logic overview 30...
Page 85: ...9 Troubleshooting Section to be populated soon Robotiq Hand E Gripper Instruction Manual 85...
Page 90: ...Robotiq Hand E Gripper Instruction Manual 1 2 3 IngressProtection Certificate 90...
