ROBOTIQ 2-Finger Adaptive Robot Gripper - 200, Instruction Manual, Page: 54 / 113

Robotiq 2-Finger Adaptive Robot Gripper - 200 Instruction Manual
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4.9.3 Preset multiple registers (FC16)
Function code 06 (FC06) is used to activate functionalities of the Gripper (robot output). Examples of such data are
action request, speed, force, etc.
Ex: This message requests to set position request, speed and force of the Gripper by setting register 0x03E9 (1001)
and 0x03EA.
Request is:
09 10 03 E9 00 02 04 60 E6 3C C8 EC 7C
where
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E9 Address of the first register
0002 Number of registers to write to
04 Number of data bytes to follow (2 registers x 2
bytes/register = 4 bytes)
00E6 Value to write to register 0x03E9
3CC8 Value to write to register 0x03EA
EC7C Cyclic Redundancy Check (CRC)
Response is:
09 10 03 E9 00 02 91 30
where
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E9 Address of the first register
0002 Number of written registers
9130 Cyclic Redundancy Check (CRC)