ROBOTIQ 2-Finger Adaptive Robot Gripper - 200 Instruction Manual page 63

Robotiq 2-Finger Adaptive Robot Gripper - 200
where
Response is:
where
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Bits
09
10
03E8
0003
06
0900
0000
FFFF
7219
09 10 03 E8 00 03 01 30
Bits
09
10
03E8
0003
0130
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 = 0x00): rPR =
0/255 for full opening of the Gripper (partial
opening would also be possible)
Value to write to register 0x03EB (SPEED = 0xFF and
FORCE = 0xFF): full speed and full force
Cyclic Redundancy Check (CRC)
Description
SlaveID
Function Code 16 (Preset Multiple Registers)
Address of the first register
Number of written registers
Cyclic Redundancy Check (CRC)
Instruction Manual
63