ROBOTIQ 2F-140 - Page 73

2F-85 & 2F-140 - Instruction Manual
Request is (set rAct): 09 10 03 E8 00 03 06 01 00 00 00 00 00 72 E1
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Addressof the first register
0003 Number of registers written to
06 Number of data bytesto follow (3 registers x 2 bytes/register = 6 bytes)
0100
Value to write to register 0x03E8 (ACTION REQUEST = 0x01 and GRIPPEROPTIONS= 0x00): rACT = 1 for"Activate
Gripper"
0000 Value written to register 0x03E9
0000 Value written to register 0x03EA
72E1 Cyclic Redundancy Check (CRC)
Response is: 09 10 03 E8 00 03 01 30
Bits Description
09 SlaveID
10
Function Code 16 (Preset Multiple
Registers)
03E8 Addressof the first register
0003 Number of written registers
0130 Cyclic Redundancy Check (CRC)
73