ROBOTIQ 2-Finger Adaptive Robot Gripper - 200, Instruction Manual, Page: 59 / 113

Robotiq 2-Finger Adaptive Robot Gripper - 200 Instruction Manual
Robotiq inc. © 2008-2013 59
where
Bits Description
09 SlaveID
03 Function Code 03 (Read Holding Registers)
02 Number of data bytes to follow (1 registers x 2
bytes/register = 2 bytes)
3100 Content of register 07D0 (GRIPPER STATUS = 0x31,
RESERVED = 0x00): gACT = 1 for "Gripper
Activation", gSTA = 3 for "Activation is completed"
4C15 Cyclic Redundancy Check (CRC)
Step 3: Move the robot to the pick-up location
Step 4: Close the Gripper at full speed and full force
Request is:
09 10 03 E8 00 03 06 09 00 00 FF FF FF 42 29
where
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of registers to write to
06 Number of data bytes to follow (3 registers x 2
bytes/register = 6 bytes)
0900 Value to write to register 0x03E9 (ACTION REQUEST
= 0x09 and GRIPPER OPTIONS = 0x00): rACT = 1 for
, "Activate Gripper" rGTO = 1 for "Go to Requested
Position"
00FF Value to write to register 0x03EA (GRIPPER OPTIONS
2 = 0x00 and POSITION REQUEST = 0xFF): rPR =
255/255 for full closing of the Gripper
FFFF Value to write to register 0x03EB (SPEED = 0xFF and
FORCE = 0xFF): full speed and full force
4229 Cyclic Redundancy Check (CRC)