ROBOTIQ Hand-E C10 Instruction Manual page 55

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4.7.3. Preset multiple registers (FC16)
Function code 16 (FC16) is used to activate functionalities of the gripper (robot output). Examples of such data are action request,
speed, force, etc.
Example of setting multiple registers FC16:
This message requests to set position request, speed and force of the gripper by setting register 0x03E9 (1002) and 0x03EA.
Request is: 09 10 03 E9 00 02 04 60 E6 3C C8 EC 7C
Bits
09
10
03E9
0002
04
60E6
3CC8
EC7C
Response is: 09 10 03 E9 00 02 91 30
4.7.4. Master read and write multiple registers FC23
Function code 23 (FC23) is used for reading the status of the gripper (robot input) and activating gripper functionalities (robot
output) simultaneously. Examples of such data are gripper status, object status, finger position, etc. Action requests are speed,
force, etc.
Example of reading and writing multiple registers FC23:
Robotiq Hand-E C10 Gripper Instruction Manual
Function Code 16 (Preset Multiple Registers)
Address of the first register
Number of registers written to
Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes)
Value written to register 0x03E9
Value written to register 0x03EA
Cyclic Redundancy Check (CRC)
Bits Description
09
Function Code 16 (Preset Multiple
10
03E9 Address of the first register
0002 Number of written registers
9130 Cyclic Redundancy Check (CRC)
Description
SlaveID
SlaveID
Registers)