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Step 5: Read Gripper status until the grip is completed
Request is: 09 03 07 D0 00 03 04 0E
Bits Description
SlaveID
03 Function Code 03 (Read Holding Registers)
07D0 Address of the first requested register
0003 Number of registers requested (3)
040E Cyclic Redundancy Check (CRC)
Example of response if the grip : is not completed 09 03 06 39 00 00 FF 0E 0A F7 8B
Bits Description
09 SlaveID
03 Function Code 03 (Read Holding Registers)
06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
3900 Content of register 07D0 (GRIPPER STATUS = 0x39, RESERVED = 0x00): gACT = 1 for "Gripper Activation", gGTO = 1 for "Go to Position
Request" and gOBJ = 0 for "Fingers are in motion"
00FF Content of register 07D1 (FAULT STATUS = 0x00, POSITION REQUEST ECHO = 0xFF): the position request echo tells that the command was
well received and that the GRIPPER STATUS is valid.
0E0A Content of register 07D2 (POSITION = 0x0E, FINGER CURRENT = 0x0A): the position is 14/255 and the motor current is 100mA (these values
will change during motion)
F78B Cyclic Redundancy Check (CRC)
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