ROBOTIQ 2-Finger Adaptive Robot Gripper - 200 Instruction Manual page 79

Robotiq 2-Finger Adaptive Robot Gripper - 200
where
Step 9: Loop back to step 3 if other objects have to be gripped.
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Bits
D605
0000
0009
02
04
06
F900
0000
0D00
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 =
0xF9, RESERVED = 0x00): gACT = 1 for "Gripper
Activation", gGTO = 1 for "Go to Position Request" and
gOBJ = 3 for "Fingers are at requested position"
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 = 0x0D,
FINGER CURRENT = 0x00): the position is 13/255 (the
fingers have reached their software limit)
Instruction Manual
79