Robotiq 3-Finger Adaptive Robot Gripper
Instruction Manual
Robotiq inc. © 2008 - 2014
69
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)
