Robotiq 3-Finger Adaptive Robot Gripper
Instruction Manual
Robotiq inc. © 2008 - 2014
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4.7.2 Read holding registers (FC03)
Function code 03 (FC03) is used for reading the status of the Gripper (robot input). Examples of such data are
Gripper Status, Object Status, Finger Position, 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.
Request is:
09 03 07 D0 00 02 C5 CE
where
BITS
DESCRIPTION
09
SlaveID
03
Function Code 03 (Read Holding Registers)
07D0
Address of the first requested register
0002
Number of registers requested (2)
C5CE
Cyclic Redundancy Check (CRC)
Response is:
09 03 04 E0 00 00 00 44 33
where
BITS
DESCRIPTION
09
SlaveID
03
Function Code 03 (Read Holding Registers)
04
Number of data bytes to follow (2 registers x 2
bytes/register = 4 bytes)
E000
Content of register 07D0
0000
Content of register 07D1
4433
Cyclic Redundancy Check (CRC)
