ROBOTIQ AirPick, Оригинальное уведомление

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Bits Description
09 Slave ID
06 Function Code 06 (Preset Single Registers)
03E9 Address of the requested register
0019 Value written in register 03E9 (Maximum pressure level = 75%)
98F8 Cyclic Redundancy Check (CRC)
4.7.4. Preset multiple registers (FC16)
Function code 16 (FC16) is used to activate functionalities of the Vacuum Gripper (robot output). Examples of use of these data are
action request, maximum vacuum level, minimum vacuum level, etc.
Example of setting multiple registers FC16:
This message request sets the maximum relative pressure level, the grip timeout, and minimum relative pressure.
Request is: 09 10 03 E9 00 02 04 00 19 0A 23 95 A3
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)
04 Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes)
0019 Value written in register 03E9 (Maximum pressure level = 75%)
0A23 Value written in register 03EA (Timeout of 1 second, minimum pressure level = 65%)
95A3 Cyclic Redundancy Check (CRC)
Response is: 09 10 03 E9 00 02 91 30
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