ROBOTIQ 2-Finger Adaptive Robot Gripper - 200 Instruction Manual page 72

Robotiq 2-Finger Adaptive Robot Gripper - 200
Step 4: Close the Gripper at full speed and full force
Request is:
71 EE 00 00 00 0D 02 10 00 00 00 03 06 09 00 00 FF FF FF
where
Response is:
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Bits
71EE
0000
000D
02
10
0000
0003
06
0900
00FF
FFFF
71 EE 00 00 00 06 02 10 00 00 00 03
Description
Unique transaction identifier (chosen randomly)
Protocol Identifier (Modbus)
Length
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 0x0000 (ACTION REQUEST
= 0x09 and GRIPPER OPTIONS = 0x00): rACT = 1 for
"Activate Gripper" rGTO = 1 for "Go to Requested ,
Position"
Value to write to register 0x0001 (GRIPPER OPTIONS
2 = 0x00 and POSITION REQUEST = 0xFF): rPR =
255/255 for full closing of the Gripper
Value to write to register 0x0002 (SPEED = 0xFF and
FORCE = 0xFF): full speed and full force
Instruction Manual
72