ROBOTIQ Hand-E C10 Instruction Manual page 56

This message reads registers 0x07D0 (2000) and 0x07D1 (2001), which contains Gripper Status, Object Detection, Fault Status and
Position Request Echo. It also sets the position request, speed and force of the gripper by writing to registers 0x03E9 (1001) and
0x03EA (1002).
Request is: 09 17 07 D0 00 02 03 E9 00 02 04 00 E6 3C C8 2D 0C
Bits
09
17
07D0
0002
03E9
0002
04
00E6
3CC8
2D0C
Response is: 09 17 04 01 00 09 E6 F6 C1
Bits
09
17
04
1000
09E6
F6C1
TIP
Response contents might change depending on gripper status.
Function Code 23 (read and write multiple registers)
Address of the first requested register, read
Number of registers requested (2), read
Address of the first register written to
Number of registers written to (2)
Number of data bytes to follow (2 registers X 2 bytes/registers = 4 bytes)
Value written to register 0x03E9
Value written to register 0x03EA
Cyclic Redundancy Check (CRC)
Function Code 23 (read and write multiple registers)
Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes)
Content of register 07D0
Content of register 07D1
Cyclic Redundancy Check (CRC)
Description
SlaveID
Description
SlaveID
Robotiq Hand-E C10 Gripper Instruction Manual
56