2F-85 & 2F-140 - Instruction Manual
4.7.2.Read input registers(FC04)
Function code 04 (FC04)isused for requesting the statusof the gripper analog input register. Examplesof such data are gripper
status, object status, finger position, etc.
Example of an FC04 read function:
This message asksfor register 0x07D0 (2000) and register 0x07D1 (2001) which contains Gripper Status, Object Detection, Fault
Statusand Position Request Echo.
Request is: 09 04 07 D0 00 02 70 0E
Bits Description
09 SlaveID
04 Function Code 04 (Read Input Registers)
07D0 Address of the first requested register
0002 Number of registers requested (2)
700E Cyclic Redundancy Check (CRC)
Response is: 09 04 04 E0 00 00 00 45 84
Bits Description
09 SlaveID
04 Function Code 04 (Read Input Registers)
04 Number of data bytesto follow (2 registers x 2 bytes/register = 4 bytes)
E000 Content of register 07D0
0000 Content of register 07D1
4584 Cyclic Redundancy Check (CRC)
68
To Next Page
