Master Read & Write Multiple Registers (Fc23) - ROBOTIQ 2-Finger Adaptive Robot Gripper - 200 Instruction Manual

Robotiq 2-Finger Adaptive Robot Gripper - 200
4.9.4 Master read & write multiple registers (FC23)
Function code 23 (FC23) is used for reading the status of the Gripper (robot input) and activating functionalities of
the Gripper (robot output)
etc. Action requests are speed, force, 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 while setting position request, speed and force of the
Gripper by setting register 0x03E9 (1001) and 0x03EA (1002).
Request is:
09 23 07 D0 00 02 03 E9 00 02 04 00 E6 3C C8 00 FF
where
Response is:
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simultaneously . Examples of such data are Gripper status, object status, finger position,
Bits
09
17
07D0
0002
03E9
0002
04
00E6
3CC8
00FF
09 17 04 E0 00 00 00 47 27
Description
SlaveID
Function Code 23 (read and write multiple registers)
Address of the first requested register, read
Number of registers requested (2), read
Address of the first register to write
Number of registers to
Number of data bytes to follow (2 registers X 2
bytes/registers = 4 bytes)
Value to write to register 0x03E9
Value to write to register 0x03EA
Cyclic Redundancy Check (CRC)
Instruction Manual
write (3) to
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