ROBOTIQ 2-Finger Adaptive Robot Gripper - 200 Instruction Manual page 75

Robotiq 2-Finger Adaptive Robot Gripper - 200
Example of response if the grip
77 6B 00 00 00 09 02 04 06 B9 00 00 FF BD 00
where
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is completed :
Bits
776B
0000
0009
02
04
06
B900
00FF
BD00
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 =
0xB9, RESERVED = 0x00): gACT = 1 for "Gripper
Activation", gGTO = 1 for "Go to Position Request" and
gOBJ = 2 for "Fingers have stopped due to a
contact while closing"
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 = 0xBD,
FINGER CURRENT = 0x00): the position is 189/255
(can be used to validate the size of the seized object)
Instruction Manual
75