ROBOTIQ Hand-E C10 Instruction Manual page 62

Example of response if the grip is not completed: 09 04 06 39 00 00 FF 0E 0A B6 6D
Bits
09
04
06
Content of register 07D0 (GRIPPER STATUS = 0x39, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO =
3900
Content of register 07D1 (FAULT STATUS = 0x00, POSITION REQUEST ECHO = 0xFF): the position request echo
00FF
Content of register 07D2 (POSITION = 0x0E, FINGER CURRENT = 0x0A): the position is 14/255 and the motor
0E0A
B66D
Example of response if the grip is completed: 09 04 06 B9 00 00 FF BD 00 5C 9A
Bits
09
04
06
Content of register 07D0 (GRIPPER STATUS = 0xB9, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO =
B900
1 for "Go to Position Request" and gOBJ = 2 for "Fingers have stopped due to a contact while closing"
Content of register 07D1 (FAULT STATUS = 0x00, POSITION REQUEST ECHO = 0xFF): the position request echo
00FF
Content of register 07D2 (POSITION = 0xBD, FINGER CURRENT = 0x00): the position is 189/255 (can be used to
BD00
5C9A
Function Code 04 (Read Input Registers)
Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
1 for "Go to Position Request" and gOBJ = 0 for "Fingers are in motion"
tells that the command was well received and that the GRIPPER STATUS is valid.
current is 100mA (these values will change during motion)
Cyclic Redundancy Check (CRC)
Function Code 04 (Read Input Registers)
Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
tells that the command was well received and that the GRIPPER STATUS is valid.
validate the size of the seized object)
Cyclic Redundancy Check (CRC)
Description
SlaveID
Description
SlaveID
Robotiq Hand-E C10 Gripper Instruction Manual
62