Robotiq Hand-E Gripper - Instruction Manual
4.7.3. Read input registers (FC04)
Function code 04 (FC04) is used for requesting the status of the Gripper's analog input register. Examples of such data are Gripper
status, object status, finger position, etc.
Example of an FC04 read function:
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 04 07 D0 00 02 70 0E
Bits
Description
09
SlaveID
04
Function Code 04 (Read Input Registers)
07D0
Address of the first requested register
0002
Number of registers requested (2)
700E
Cyclic Redundancy Check (CRC)
Response is: 09 04 04 E0 00 00 00 44 33
Bits
Description
09
SlaveID
04
Function Code 04 (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
4584
Cyclic Redundancy Check (CRC)
45
Summary of Contents for HAND-E
Page 30: ...Robotiq Hand E Gripper Instruction Manual Fig 4 1 Hand E control logic overview 30 ...
Page 86: ...9 Troubleshooting Section to be populated soon Robotiq Hand E Gripper Instruction Manual 86 ...
Page 91: ...Robotiq Hand E Gripper Instruction Manual 12 3 Ingress Protection Certificate 91 ...