ROBOTIQ 2-Finger Adaptive Robot Gripper - 200 Instruction Manual page 71

Robotiq 2-Finger Adaptive Robot Gripper - 200
Response (if the activation IS NOT completed):
where
Response (if the activation IS completed):
where
Step 3: Move the robot to the pick-up location
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45 33 00 00 00 05 02 04 02 11 00
Bits
4533
0000
0005
02
04
02
1100
45 33 00 00 00 05 02 04 02 31 00
Bits
4533
0000
0005
02
04
02
3100
Description
Unique transaction identifier (chosen randomly)
Protocol Identifier (Modbus)
Length
SlaveID
Function Code 04 (Read Input Registers)
Number of data bytes to follow (1 registers x 2
bytes/register = 2 bytes)
Content of register 0000 (GRIPPER STATUS = 0x11,
RESERVED = 0x00): gACT = 1 for "Gripper
Activation", gSTA = 1 for "Activation in progress"
Description
Unique transaction identifier (chosen randomly)
Protocol Identifier (Modbus)
Length
SlaveID
Function Code 04 (Read Input Registers)
Number of data bytes to follow (1 registers x 2
bytes/register = 2 bytes)
Content of register 0000 (GRIPPER STATUS = 0x31,
RESERVED = 0x00): gACT = 1 for "Gripper
Activation", gSTA = 3 for "Activation is completed"
Instruction Manual
71