ROBOTIQ 2-Finger Adaptive Robot Gripper - 200 Instruction Manual page 62

Robotiq 2-Finger Adaptive Robot Gripper - 200
where
Step 6: Move the robot to the release location
Step 7: Open the Gripper at full speed and full force
Request is:
09 10 03 E8 00 03 06 09 00 00 00 FF FF 72 19
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Bits
09
03
06
B900
00FF
BD00
F78B
Description
SlaveID
Function Code 03 (Read Holding Registers)
Number of data bytes to follow (3 registers x 2
bytes/register = 6 bytes)
Content of register 07D0 (GRIPPER STATUS = 0xB9,
RESERVED = 0x00): gACT = 1 for "Gripper Activation",
gGTO = 1 for "Go to Position Request" and gOBJ = 2
for "Fingers have stopped due to a contact while
closing"
Content of register 07D1 (FAULT STATUS = 0x00,
POSITION REQUEST ECHO = 0xFF): the position
request echo tells that the command was well received
and that the GRIPPER STATUS is valid.
Content of register 07D2 (POSITION = 0xBD, FINGER
CURRENT = 0x00): the position is 189/255 (can be
used to validate the size of the seized object)
Cyclic Redundancy Check (CRC)
Instruction Manual
62