3-Finger Adaptive Robot Gripper Instruction Manual
Step 5: Read Gripper status until the grip is completed
Request is:
09 03 07 D0 00 08 45 C9
where
BITS
DESCRIPTION
09
SlaveID
03
Function Code 03 (Read Holding Registers)
07D0
Address of the first requested register
0008
Number of registers requested (8)
45C9
Cyclic Redundancy Check (CRC)
Example of response if the grip
is not completed
:
09 03 10 39 C0 00 FF 08 0F 00 08 10 00 08 0F 00 89 00 00 73 70
where
BITS
DESCRIPTION
09
SlaveID
03
Function Code 03 (Read Holding Registers)
10
Number of data bytes to follow (8 registers x 2 bytes/register = 16 bytes)
39C0
Content of register 0x07D0 (GRIPPER STATUS = 0x39, OBJECT
STATUS = 0xC0):
gSTA = 0 for "Gripper is in motion towards
requested position"
00FF
Content of register 0x07D1 (FAULT STATUS = 0x00, POSITION
REQUEST ECHO = 0xFF): the position request echo tells that the
command was well received and that the GRIPPER STATUS is valid.
080F
Content of register 0x07D2 (FINGER A POSITION = 0x08, FINGER A
CURRENT = 0x0F): the position of finger A is 8/255 and the motor
current is 150mA (these values will change during motion)
0008
Content of register 0x07D3 (FINGER B POSITION REQUEST ECHO =
0x00, FINGER B POSITION = 0x08)
1000
Content of register 0x07D4 (FINGER B CURRENT = 0x10, FINGER C
POSITION REQUEST ECHO = 0x00)
080F
Content of register 0x07D5 (FINGER C POSITION = 0x08, FINGER C
CURRENT = 0x0F)
0089
Content of register 0x07D6 (SCISSOR POSITION REQUEST ECHO =
0x00, SCISSOR POSITION = 0x89)
0000
Content of register 0x07D7 (SCISSOR CURRENT = 0x00)
7370
Cyclic Redundancy Check (CRC)
Example of response if the grip
is completed
:
09 03 10 B9 EA 00 FF BC 00 00 C1 00 00 BD 00 00 89 00 00 4E 17
where
BITS
DESCRIPTION
09
SlaveID
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