ROBOTIQ 2-Finger Adaptive Robot Gripper - 200 Instruction Manual page 58

Robotiq 2-Finger Adaptive Robot Gripper - 200
Request is:
where
Response (if the activation IS NOT completed):
where
Response (if the activation IS completed):
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09 03 07 D0 00 01 85 CF
Bits
09
03
07D0
0001
85CF
09 03 02 11 00 55 D5
Bits
09
03
02
1100
55D5
09 03 02 31 00 4C 15
Description
SlaveID
Function Code 03 (Read Holding Registers)
Address of the first requested register
Number of registers requested (1)
Cyclic Redundancy Check (CRC)
Description
SlaveID
Function Code 03 (Read Holding Registers)
Number of data bytes to follow (1 registers x 2
bytes/register = 2 bytes)
Content of register 07D0 (GRIPPER STATUS = 0x11,
RESERVED = 0x00): gACT = 1 for "Gripper
Activation", gSTA = 1 for "Activation in progress"
Cyclic Redundancy Check (CRC)
Instruction Manual
58