ROBOTIQ Hand-E C10 Instruction Manual page 60

Response (if the activation IS completed): 09 04 02 31 00 4D 61
Bits
09
04
02
Content of register 07D0 (GRIPPER STATUS = 0x31, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gSTA = 3
3100
4D61
Step 3: Move the robot to the pick-up location
Step 4: Close gripper at full speed and full force
Request is: 09 10 03 E8 00 03 06 09 00 00 FF FF FF 42 29
Bits
09
10
03E8
0003
06
Value written to register 0x03E8 (ACTION REQUEST = 0x09 and GRIPPER OPTIONS = 0x00): rACT = 1 for "Activate
0900
Value written to register 0x03E9 (GRIPPER OPTIONS 2 = 0x00 and POSITION REQUEST = 0xFF): rPR = 255/255 for
00FF
FFFF
4229
Function Code 04 (Read Input Registers)
Number of data bytes to follow (1 register x 2 bytes/register = 2 bytes)
Function Code 16 (Preset Multiple Registers)
Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
Gripper", rGTO = 1 for "Go to Requested Position"
Value written to register 0x03EA (SPEED = 0xFF and FORCE = 0xFF): full speed and full force
Description
SlaveID
for "Activation is completed"
Cyclic Redundancy Check (CRC)
Description
SlaveID
Address of the first register
Number of registers written to
full closing of the Gripper
Cyclic Redundancy Check (CRC)
Robotiq Hand-E C10 Gripper Instruction Manual
60