ROBOTIQ 2-Finger 140, Instruction Manual

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Robotiq 2-Finger Adaptive Gripper Instruction Manual
Robotiq inc. © 2016 64
Example of response if the grip : is completed 09 03 06 B9 00 00 FF BD 00 1D 7C
Bits Description
09 SlaveID
03 Function Code 03 (Read Holding Registers)
06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
B900 Content of register 07D0 (GRIPPER STATUS = 0xB9, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO = 1 for "Go to Position
Request" and gOBJ = 2 for "Fingers have stopped due to a contact while closing"
00FF Content of register 07D1 (FAULT STATUS = 0x00, POSITION REQUEST ECHO = 0xFF): the position request echo tells that the command was
well received and that the GRIPPER STATUS is valid.
BD00 Content of register 07D2 (POSITION = 0xBD, FINGER CURRENT = 0x00): the position is 189/255 (can be used to validate the size of the seized
object)
F78B Cyclic Redundancy Check (CRC)