Robotiq 2-Finger Adaptive Robot Gripper - 200
Instruction Manual
Robotiq inc. © 2008-2013
65
09 03 06 F9 00 00 00 0D 00 56 4C
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)
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 STATUS is 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.
