ROBOTIQ 2-Finger 85 - Read Holding Registers (FC03)

Robotiq 2-Finger Adaptive Gripper Instruction Manual
Robotiq inc. © 2016 56
4.7.2 Read holding registers (FC03)
Function code 03 (FC03) is used for reading the status of the Gripper (robot input). Examples of such data are Gripper
status, object status, finger position, etc.
Example of FC03 Read function:
This message asks for register 0x07D0 (2000) and register 0x07D1 (2001) which contains Gripper Status, Object Detection,
Fault Status and Position Request Echo.
Request is: 09 03 07 D0 00 02 C5 CE
Bits Description
09 SlaveID
03 Function Code 03 (Read Holding Registers)
07D0 Address of the first requested register
0002 Number of registers requested (2)
C5CE Cyclic Redundancy Check (CRC)
Response is: 09 03 04 E0 00 00 00 44 33
Bits Description
09 SlaveID
03 Function Code 03 (Read Holding Registers)
04 Number of data bytes to follow (2 registers x 2 bytes/register = 4 bytes)
E000 Content of register 07D0
0000 Content of register 07D1
4433 Cyclic Redundancy Check (CRC)