Lean ROBOTIQ HAND-E, Оригинальное уведомление, Страница: 52 / 90

Robotiq Hand-E Gripper Instruction Manual
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
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of registers written to
06 Number of data bytes to follow (3 registers x 2 bytes/ register = 6 bytes)
0900
Value written to register 0x03E8 (ACTION REQUEST = 0x09 and GRIPPER OPTIONS= 0x00): rACT = 1 for "Activate
Gripper", rGTO = 1 for "Go to Requested Position"
00FF
Value written to register 0x03E9 (GRIPPER OPTIONS2 = 0x00 and POSITION REQUEST = 0xFF): rPR = 255/ 255 for full
closing of the Gripper
FFFF Value written to register 0x03EA (SPEED = 0xFF and FORCE = 0xFF): full speed and full force
4229 Cyclic Redundancy Check (CRC)
Response is: 09 10 03 E8 00 03 01 30
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of written registers
0130 Cyclic Redundancy Check (CRC)
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