ROBOTIQ 2-Finger Adaptive Robot Gripper - 200 Instruction Manual page 74

Robotiq 2-Finger Adaptive Robot Gripper - 200
where
Robotiq inc. © 2008-2013
Bits
776B
0000
0009
02
04
06
3900
00FF
0E0A
Description
Unique transaction identifier (chosen randomly)
Protocol Identifier (Modbus)
Length
SlaveID
Function Code 04 (Read Input Registers)
Number of data bytes to follow (3 registers x 2
bytes/register = 6 bytes)
Content of register 0x0000 (GRIPPER STATUS =
0x39, RESERVED = 0x00): gACT = 1 for "Gripper
Activation", gGTO = 1 for "Go to Position Request" and
gOBJ = 0 for "Fingers are in motion"
Content of register 0x0001 (FAULT STATUS = 0x00,
POSITION REQUEST ECHO = 0xFF): the position
request echo tells that the command was well received
and that the GRIPPER STATUS is valid.
Content of register 0x0002 (POSITION = 0x0E,
FINGER CURRENT = 0x0A): the position is 14/255
and the motor current is 100mA (these values will
change during motion)
Instruction Manual
74