Read Holding Registers (Fc03) - ROBOTIQ 2-Finger Adaptive Robot Gripper - 200 Instruction Manual

Robotiq 2-Finger Adaptive Robot Gripper - 200

4.9.2 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:
where
Response is:
where
Bits
Note
The Adaptive Gripper 2-Finger – 200 register values are updated at a 200Hz frequency. It is
therefore recommended to send FC03 commands with a minimum delay of 5ms between them.
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09 03 07 D0 00 02 C5 CE
Bits
09
03
07D0
0002
C5CE
09 03 04 E0 00 00 00 44 33
09
03
04
E000
0000
4433
Description
SlaveID
Function Code 03 (Read Holding Registers)
Address of the first requested register
Number of registers requested (2)
Cyclic Redundancy Check (CRC)
Description
SlaveID
Function Code 03 (Read Holding Registers)
Number of data bytes to follow (2 registers x 2
bytes/register = 4 bytes)
Content of register 07D0
Content of register 07D1
Cyclic Redundancy Check (CRC)
Instruction Manual
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