Read Input Registers (Fc04) - ROBOTIQ 2-Finger Adaptive Robot Gripper - 200 Instruction Manual

Robotiq 2-Finger Adaptive Robot Gripper - 200

4.10.2 Read Input Registers (FC04)

Function code 04 (FC04) is used for reading the status of the Gripper (robot input). Examples of such data are
Gripper status, object status, finger position, etc. For example, this message asks for registers 0x0000 (0000) to
0x0006 (0006) which contain all the robot input statuses.
Request is:
where
Response is:
01 00 00 00 00 0f 02 04 0c e9 00 00 00 06 06 06 8a 00 00 00
where
e9 00 00 00 06 06 06 8a 00 00 00 00
Note
The Gripper register values are updated at a 200Hz frequency. It is therefore recommended to
send FC04 commands with a minimum delay of 5ms between them.
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01 00 00 00 00 06 02 04 00 00 00 06
Bits
01 00
00 00
00 06
02
04
00 00
00 06
Bits
01 00
00 00
00 0f
02
04
0c
Transaction identifier
Protocol identifier
Function 04 (Read input registers)
Address of the first register
00
Transaction identifier
Protocol identifier
Function 04 (Read input registers)
The number of data bytes to follow
Instruction Manual
Description
Length
UnitID
Word count
Description
Length
UnitID
Data
67