ROBOTIQ 2-Finger Adaptive Robot Gripper - 200 Instruction Manual page 65

Robotiq 2-Finger Adaptive Robot Gripper - 200
where
Step 9: Loop back to step 3 if other objects have to be gripped.
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09 03 06 F9 00 00 00 0D 00 56 4C
Bits
09
03
06
F900
0000
0D00
564C
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 = 0xF9,
RESERVED = 0x00): gACT = 1 for "Gripper Activation",
gGTO = 1 for "Go to Position Request" and gOBJ = 3
for "Fingers are at requested position"
Content of register 07D1 (FAULT STATUS = 0x00,
POSITION REQUEST ECHO = 0x00): the position
request echo tells that the command was well received
and that the GRIPPER STATUS is valid.
Content of register 07D2 (POSITION = 0x0D, FINGER
CURRENT = 0x00): the position is 13/255 (the fingers
have reached their software limit)
Cyclic Redundancy Check (CRC)
Instruction Manual
65