ROBOTIQ 2-Finger Adaptive Robot Gripper - 200 Instruction Manual page 73

Robotiq 2-Finger Adaptive Robot Gripper - 200
where
Step 5: Read Gripper status until the grip is completed
Request is:
where
Example of response if the grip
77 6B 00 00 00 09 02 04 06 39 00 00 FF 0E 0A
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Bits
71EE
0000
0006
02
10
0000
0003
77 6B 00 00 00 06 02 04 00 00 00 03
Bits
776B
0000
0006
02
04
0000
0003
is not completed
Unique transaction identifier (chosen randomly)
Protocol Identifier (Modbus)
Function Code 16 (Preset Multiple Registers)
Address of the first register
Number of written registers
Unique transaction identifier (chosen randomly)
Protocol Identifier (Modbus)
Function Code 04 (Read Input Registers)
Address of the first requested register
Number of registers requested (3)
:
Instruction Manual
Description
Length
SlaveID
Description
Length
SlaveID
73