ROBOTIQ 2-Finger Adaptive Robot Gripper - 200 Instruction Manual page 77

Robotiq 2-Finger Adaptive Robot Gripper - 200
Response is:
where
Step 8: Read Gripper status until the opening is completed
Request is:
where
Example of response if the opening is not completed:
D6 05 00 00 00 09 02 04 06 39 00 00 00 BB 10
where
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34 AB 00 00 00 06 02 10 00 00 00 03
Bits
34AB
0000
0006
02
10
0000
0003
D6 05 00 00 00 06 02 04 00 00 00 03
Bits
D605
0000
0006
02
04
0000
0003
Bits
Description
Unique transaction identifier (chosen randomly)
Protocol Identifier (Modbus)
Length
SlaveID
Function Code 16 (Preset Multiple Registers)
Address of the first register
Number of written registers
Description
Unique transaction identifier (chosen randomly)
Protocol Identifier (Modbus)
Length
SlaveID
Function Code 04 (Read Input Registers)
Address of the first requested register
Number of registers requested (3)
Description
Instruction Manual
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