ROBOTIQ Hand-E C10 Instruction Manual page 64

Step 8: Read Gripper status until the opening is completed
Request is: 09 04 07 D0 00 03 B1 CE
Example of response if the opening is not completed: 09 04 06 39 00 00 00 BB 10 71 06
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 = 0x00): the position request echo
0000
Content of register 07D2 (POSITION = 0xBB, FINGER CURRENT = 0x10): the position is 187/255 and the motor
BB10
7106
Bits
09
04 Function Code 04 (Read Input Registers)
07D0 Address of the first requested register
0003 Number of registers requested (3)
B1CE Cyclic Redundancy Check (CRC)
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 160mA (these values will change during motion)
Cyclic Redundancy Check (CRC)
Description
SlaveID
Description
SlaveID
Robotiq Hand-E C10 Gripper Instruction Manual
64