13
The force of rotation is 20-100(%)
，
The corresponding value is 0x0014 –0x0064(Hexadecimal).
Example:
Set 50% force (write):
Send:
01 06 01 08 00 32 88 21
Return: 01 06 01 05 00 B4 88 21
Read the current force (read):
Send:
01 03 01 07 00 01 34 37
Return: 01 03 02 xx xx crc1 crc2
2.3.4.8 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 2.11.
Table 2.11 Initialization State
Function
Address
Description
Write
Read
Initialization
State
0x0200
Initialization state
of the gripper
Read Only
0
：
Uninitialized
；
1
：
Initialized
2:Initializing
Example:
Read initialization state (read):
Send:
01 03 02 00 00 01 85 B2
Return: 01 03 02 00 00 B8 44
2.3.4.9 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 2.12.
Table 2.12 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