ROBOTIQ 2-Finger Adaptive Robot Gripper - 200 Instruction Manual page 59

Robotiq 2-Finger Adaptive Robot Gripper - 200
where
Step 3: Move the robot to the pick-up location
Step 4: Close the Gripper at full speed and full force
Request is:
09 10 03 E8 00 03 06 09 00 00 FF FF FF 42 29
where
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Bits
09
03
02
3100
4C15
Bits
09
10
03E8
0003
06
0900
00FF
FFFF
4229
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 = 0x31,
RESERVED = 0x00): gACT = 1 for "Gripper
Activation", gSTA = 3 for "Activation is completed"
Cyclic Redundancy Check (CRC)
Description
SlaveID
Function Code 16 (Preset Multiple Registers)
Address of the first register
Number of registers to write to
Number of data bytes to follow (3 registers x 2
bytes/register = 6 bytes)
Value to write to register 0x03E9 (ACTION REQUEST
= 0x09 and GRIPPER OPTIONS = 0x00): rACT = 1 for
"Activate Gripper" rGTO = 1 for "Go to Requested ,
Position"
Value to write to register 0x03EA (GRIPPER OPTIONS
2 = 0x00 and POSITION REQUEST = 0xFF): rPR =
255/255 for full closing of the Gripper
Value to write to register 0x03EB (SPEED = 0xFF and
FORCE = 0xFF): full speed and full force
Cyclic Redundancy Check (CRC)
Instruction Manual
59