ROBOTIQ 2-Finger Adaptive Robot Gripper - 200 Instruction Manual page 78

Robotiq 2-Finger Adaptive Robot Gripper - 200
Example of response if the opening
D6 05 00 00 00 09 02 04 06 F9 00 00 00 0D 00
Robotiq inc. © 2008-2013
D605
0000
0009
02
04
06
3900
0000
BB10
is completed :
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 = 0x00): the position
request echo tells that the command was well received
and that the GRIPPER STATUS is valid.
Content of register 0x0002 (POSITION = 0xBB,
FINGER CURRENT = 0x10): the position is 187/255
and the motor current is 160mA (these values will
change during motion)
Instruction Manual
78