3-Finger Adaptive Robot Gripper Instruction Manual
09 03 02 31 00 4C 15
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, OBJECT
STATUS = 0x00): gACT = 1 for "Gripper Activation",
gIMC = 3 for
"Activation and mode change are 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 written to register 0x03E9 (ACTION REQUEST = 0x09 and
GRIPPER OPTIONS = 0x00):
rACT = 1 for "Activate Gripper",
rMOD=0 for "Go to Basic Mode" , rGTO = 1 for "Go to
Requested Position"
00FF
Value written to register 0x03EA (GRIPPER OPTIONS 2 = 0x00 and
POSITION REQUEST = 0xFF):
rPRA = 255/255 for full closing of
the Gripper
FFFF
Value written to register 0x03EB (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
where
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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