Robotiq Hand-E Gripper Instruction Manual
Example of response if the opening is completed: 09 03 06 F9 00 00 00 0D 00 56 4C
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)
F900
Content of register 07D0 (GRIPPER STATUS= 0xF9, RESERVED = 0x00): gACT = 1 for " Gripper Activation" , gGTO = 1
for " Go to Position Request" and gOBJ = 3 for "Fingers are at requested position"
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.
0D00
Content of register 07D2 (POSITION = 0x0D, FINGER CURRENT = 0x00): the position is 13/ 255 (the fingers have reached
their software limit)
564C
Cyclic Redundancy Check (CRC)
Step 9: Loop back to step 3 if other objects have to be gripped.
57
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...
