Robotiq 2-Finger Adaptive Robot Gripper - 200
Instruction Manual
Robotiq inc. © 2008-2013
64
Step 8: Read Gripper status until the opening is completed
Request is:
09 03 07 D0 00 03 04 0E
where
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
where
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 STATUS is 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)
Example of response if the opening
:
is completed