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14
Return: 01 03 02 xx xx crc1 crc2
2.3.4.5 Initialization State
This register is used to store current initialization state of gripper, you can get the initialization
state by reading this register.
The address is 0x0200. The description of this register is shown in Table 2.8.
Table 2.8 Initialization State
Function
Address
Description
Write
Read
Initialization
State
0x0200
Initialization state
of the gripper
Read Only
0
：
Not initialized
；
1
：
Initialized
Example:
Read initialization state (read):
Send:
01 03 02 00 00 01 85 B2
Return: 01 03 02 00 00 B8 44
2.3.4.6 Gripper State
This register is used to store the Gripper state, you can get the state of gripper by reading this
register.
And the address is 0x0201. The description of this register is shown in Table 2.9.
Table 2.9 Gripper State
Function
Address
Description
Write
Read
Gripper
State
0x0201
the gripper state
Read
Only
0
：
In motion;
1
：
Reached position
；
2
：
Object caught
；
3
：
Object dropped
Example:
Read gripper state (read):
Send:
01 03 02 01 00 01 D4 72
Return:
01 03 02 00 02 39 85(02: object caught)
States Description
Different values indicate different states of the gripper. The descriptions of states are as
follows:
·
00: Fingers are in motion .
·
01: Fingers are at reference position. No object detected or object has been dropped.
·
02: Fingers have stopped due to an object detection.
·
03: Fingers are at reference positon due to object has been dropped after the gripper
caught object.
