Robotiq 2-Finger Adaptive Robot Gripper - 200
Instruction Manual
Robotiq inc. © 2008-2013
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4.9.4 Master read & write multiple registers (FC23)
Function code 23 (FC23) is used for reading the status of the Gripper (robot input) and activating functionalities of
the Gripper (robot output)
. Examples of such data are Gripper status, object status, finger position,
simultaneously
etc. Action requests are speed, force, etc.
Ex: This message asks for register 0x07D0 (2000) and register 0x07D1 (2001) which contains Gripper Status,
Object Detection, Fault Status and Position Request Echo while setting position request, speed and force of the
Gripper by setting register 0x03E9 (1001) and 0x03EA (1002).
Request is:
09 23 07 D0 00 02 03 E9 00 02 04 00 E6 3C C8 00 FF
where
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 to write
0002
Number of registers to
(3) to
write
04
Number of data bytes to follow (2 registers X 2
bytes/registers = 4 bytes)
00E6
Value to write to register 0x03E9
3CC8
Value to write to register 0x03EA
00FF
Cyclic Redundancy Check (CRC)
Response is:
09 17 04 E0 00 00 00 47 27
