ROBOTIQ 2-Finger Adaptive Robot Gripper - 200, Instruction Manual, Page: 61 / 113

Robotiq 2-Finger Adaptive Robot Gripper - 200 Instruction Manual
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where
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)
3900 Content of register 07D0 (GRIPPER STATUS = 0x39,
RESERVED = 0x00): gACT = 1 for "Gripper Activation",
gGTO = 1 for "Go to Position Request" and gOBJ = 0
for "Fingers are in motion"
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.
0E0A Content of register 07D2 (POSITION = 0x0E, FINGER
CURRENT = 0x0A): the position is 14/255 and the
motor current is 100mA (these values will change
during motion)
F78B Cyclic Redundancy Check (CRC)
Example of response if the grip : is completed
09 03 06 B9 00 00 FF BD 00 1D 7C