3-Finger Adaptive Robot Gripper Instruction Manual
BITS
DESCRIPTION
03E8
Address of the register
0100
Written Value
0962
Cyclic Redundancy Check (CRC)
4.7.4 Preset multiple registers (FC16)
Function code 06 (FC16) 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 Register)
03E9
Address of the first register
0002
Number of written registers
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 Register)
03E9
Address of the firstregister
0002
Number of written registers
9130
Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes)
4.7.5 Master read&write multiple registers (FC23)
Function code 23 (FC23) is used for reading the status of the Gripper (robot input) and activating functionalities of the Gripper (robot output)
simultaneously. Examples of such data are Gripper Status, Object Status, Finger Position, etc. Action Requests are Speed, Force, etc.
Ex: This message asks for register 0x07D0 (2000) and register 0x07D1 (2001) which contains Gripper Status, Object Detection, Fault Status and
Position Request Echo while setting Position Request, Speed and Force of the Gripper is done by setting registers 0x03E9 (1001) and 0x03EA (1002).
Request is:
09 23 07 D0 00 02 03 E9 00 02 04 00 E6 3C C8 00 FF
where
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