ROBOTIQ AirPick, Original Notice

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AirPick - Instruction Manual
Bits Description
09 Slave ID
10 Function Code 16 (Preset Multiple Registers)
03E9 Address of the first requested register
0002 Number of registers requested (2)
9130 Cyclic Redundancy Check (CRC)
4.7.5. Master read & write multiple registers (FC23)
Function code 23 (FC23) is used for reading the status of the Vacuum Gripper (robot input) and activating functionalities of the
Vacuum Gripper (robot output) simultaneously. Examples of use of these data are Vacuum Gripper status, object status, etc.
Action requests are speed, force, etc.
Example of reading and writing multiple registers FC23:
This message reads registers 0x07D0 (2000) and 0x07D1 (2001), which contains Vacuum Gripper Status, Object Detection, Fault
Status and Position Request Echo. It also sets the position request, speed and force of the Vacuum Gripper by writing to registers
0x03E9 (1001) and 0x03EA (1002).
Request is: 09 17 07 D0 00 02 03 E9 00 02 04 00 19 0A 23 4A D3
Bits Description
09 Slave ID
17 Function Code 23 (read and write multiple registers)
07D0 Address of the first requested register read
0002 Number of registers requested (2), read
03E9 Address of the first register written to
0002 Number of registers written to (2)
04 Number of data bytes to follow (2 registers X 2 bytes/registers = 4 bytes)
0019 Value written to register 0x03E9
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