ROBOTIQ 2F-140 - Page 74

2F-85 & 2F-140 - Instruction Manual
Step 2:Read Gripper statusuntil the activation iscompleted
Request is: 09 04 07 D0 00 01 30 0F
Bits Description
09 SlaveID
04 Function Code 04 (Read Input Registers)
07D0 Address of the first requested register
0001 Number of registers requested (1)
300F Cyclic Redundancy Check (CRC)
Response (if the activation ISNOT completed): 09 04 02 11 00 54 A1
Bits Description
09 SlaveID
04 Function Code 04 (Read Input Registers)
02 Number of data bytesto follow (1 register x 2 bytes/register = 2 bytes)
1100
Content of register 07D0 (GRIPPERSTATUS= 0x11, RESERVED = 0x00): gACT = 1 for " Gripper Activation", gSTA = 1
for"Activation in progress"
54A1 Cyclic Redundancy Check (CRC)
Response (if the activation IScompleted): 09 04 02 31 00 4D 61
Bits Description
09 SlaveID
04 Function Code 04 (Read Input Registers)
02 Number of data bytesto follow (1 register x 2 bytes/register = 2 bytes)
3100
Content of register 07D0 (GRIPPERSTATUS= 0x31, RESERVED = 0x00): gACT = 1 for " Gripper Activation", gSTA = 3
for"Activation iscompleted"
4D61 Cyclic Redundancy Check (CRC)
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