ROBOTIQ Hand-E C10 Instruction Manual page 63

63
Step 6: Move gripper to release location
Step 7: Open the Gripper at full speed and full force
Request is: 09 10 03 E8 00 03 06 09 00 00 00 FF FF 72 19
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 = 0x00): rPR = 0/255 for full
0000
FFFF Value written to register 0x03EA (SPEED = 0xFF and FORCE = 0xFF): full speed and full force
7219
Response is: 09 10 03 E8 00 03 01 30
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 (3 registers x 2 bytes/register = 6 bytes)
Gripper", rGTO = 1 for "Go to Requested Position"
opening of the Gripper (partial opening would also be possible)
Cyclic Redundancy Check (CRC)
Bits
09
Function Code 16 (Preset Multiple
10
03E8 Address of the first register
0003 Number of written registers
0130 Cyclic Redundancy Check (CRC)
Description
SlaveID
Description
SlaveID
Registers)